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Mobile locally operated detachable end-effector manipulator for endoscopic surgery.

Kawai T, Shin M, Nishizawa Y, Horise Y, Nishikawa A, Nakamura T - Int J Comput Assist Radiol Surg (2014)

Bottom Line: Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction.A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested.The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure.

View Article: PubMed Central - PubMed

Affiliation: Graduate School of Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi Ward, Osaka , 535-8585, Japan, kawai@bme.oit.ac.jp.

ABSTRACT

Purpose: Local surgery is safer than remote surgery because emergencies can be more easily addressed. Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction. A new manipulator with a detachable commercial forceps was developed that can act as a third arm for a surgeon situated in a sterile area near the patient. This mechanism can be disassembled into compact parts that enable mobile use.

Methods: A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested. This device uses crank-slider and cable-rod mechanisms to achieve 5 degrees of freedom and an acting force of more than 5 N. The total mass is less than 15 kg. The positional accuracy and speed of the prototype device were evaluated while performing simulated in vivo surgery.

Results: The accuracy of the mobile LODEM was 0.4 mm, sufficient for handling organs. The manipulator could be assembled and disassembled in 8 min, making it highly mobile. The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure.

Conclusions: A mobile LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. This device is highly promising for robotic surgery applications.

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Related in: MedlinePlus

Experimental setup for measuring the time required to complete a task involving a simple model. The model comprised three sponges arranged in a regular triangle with separations of 70 mm. The operator stood on the left-hand side of the table and controlled the prototype mobile LOEDM using the button controller attached to a forceps held in the left hand
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Fig4: Experimental setup for measuring the time required to complete a task involving a simple model. The model comprised three sponges arranged in a regular triangle with separations of 70 mm. The operator stood on the left-hand side of the table and controlled the prototype mobile LOEDM using the button controller attached to a forceps held in the left hand

Mentions: The time required to complete a task using a model was evaluated to determine the operability of the device. The well-known procedures to evaluate the operability of the device are laparoscopic skills training model [24]. However, the task of this gold-standard procedure is aimed for the main surgeon to deliver, receive, cut, ligate and knot for organs, it is the suitable procedure for the assistant to reach the forceps to the required position where is grasped and pulled for organs. Instead, a simple triangular model was used, based on the baseball-diamond model used for control of the endoscope-holding robot AESOP [25]. The model was a regular triangular shape formed from three pieces of sponge with distances of 70 mm between them. It was placed in a laparoscopic training box (Endowork-pro II, KARL STOLZ) and was viewed through an endoscope (10 mm diameter, SHINKO KOHKI). The endoscope was positioned at the foot of the surgical table, and the monitor was at the head. The manipulator attached to the forceps was positioned at the right-hand side of the table. The operator stood on the left hand side of the table and controlled the manipulator using the button controller attached to a forceps held in the left hand. The participants were seven endoscope specialists and five engineering students who gave written informed consent. Each time trial involved touching the three pieces of sponge in turn with the tip of the forceps attached to the manipulator, which could be verified by a deformation of the sponge. Pre-trial training involved moving the forceps from the center of the triangle to the starting sponge. A total of five trials were performed for each operator. The experimental setup is shown in Fig. 4. In addition, the time required for each of the engineering students to assemble and disassemble the manipulator was measured.


Mobile locally operated detachable end-effector manipulator for endoscopic surgery.

Kawai T, Shin M, Nishizawa Y, Horise Y, Nishikawa A, Nakamura T - Int J Comput Assist Radiol Surg (2014)

Experimental setup for measuring the time required to complete a task involving a simple model. The model comprised three sponges arranged in a regular triangle with separations of 70 mm. The operator stood on the left-hand side of the table and controlled the prototype mobile LOEDM using the button controller attached to a forceps held in the left hand
© Copyright Policy - OpenAccess
Related In: Results  -  Collection

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getmorefigures.php?uid=PMC4305102&req=5

Fig4: Experimental setup for measuring the time required to complete a task involving a simple model. The model comprised three sponges arranged in a regular triangle with separations of 70 mm. The operator stood on the left-hand side of the table and controlled the prototype mobile LOEDM using the button controller attached to a forceps held in the left hand
Mentions: The time required to complete a task using a model was evaluated to determine the operability of the device. The well-known procedures to evaluate the operability of the device are laparoscopic skills training model [24]. However, the task of this gold-standard procedure is aimed for the main surgeon to deliver, receive, cut, ligate and knot for organs, it is the suitable procedure for the assistant to reach the forceps to the required position where is grasped and pulled for organs. Instead, a simple triangular model was used, based on the baseball-diamond model used for control of the endoscope-holding robot AESOP [25]. The model was a regular triangular shape formed from three pieces of sponge with distances of 70 mm between them. It was placed in a laparoscopic training box (Endowork-pro II, KARL STOLZ) and was viewed through an endoscope (10 mm diameter, SHINKO KOHKI). The endoscope was positioned at the foot of the surgical table, and the monitor was at the head. The manipulator attached to the forceps was positioned at the right-hand side of the table. The operator stood on the left hand side of the table and controlled the manipulator using the button controller attached to a forceps held in the left hand. The participants were seven endoscope specialists and five engineering students who gave written informed consent. Each time trial involved touching the three pieces of sponge in turn with the tip of the forceps attached to the manipulator, which could be verified by a deformation of the sponge. Pre-trial training involved moving the forceps from the center of the triangle to the starting sponge. A total of five trials were performed for each operator. The experimental setup is shown in Fig. 4. In addition, the time required for each of the engineering students to assemble and disassemble the manipulator was measured.

Bottom Line: Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction.A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested.The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure.

View Article: PubMed Central - PubMed

Affiliation: Graduate School of Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi Ward, Osaka , 535-8585, Japan, kawai@bme.oit.ac.jp.

ABSTRACT

Purpose: Local surgery is safer than remote surgery because emergencies can be more easily addressed. Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction. A new manipulator with a detachable commercial forceps was developed that can act as a third arm for a surgeon situated in a sterile area near the patient. This mechanism can be disassembled into compact parts that enable mobile use.

Methods: A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested. This device uses crank-slider and cable-rod mechanisms to achieve 5 degrees of freedom and an acting force of more than 5 N. The total mass is less than 15 kg. The positional accuracy and speed of the prototype device were evaluated while performing simulated in vivo surgery.

Results: The accuracy of the mobile LODEM was 0.4 mm, sufficient for handling organs. The manipulator could be assembled and disassembled in 8 min, making it highly mobile. The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure.

Conclusions: A mobile LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. This device is highly promising for robotic surgery applications.

Show MeSH
Related in: MedlinePlus