Multi-DOF Forceps Manipulator System for Laparoscopic Surgery – Mechanism Miniaturized & Evaluation of New Interface - (original) (raw)

Abstract

The Multi-DOF forceps manipulator we developed has two additional DOF of bending on the tip of forceps, and provides new surgical fields and techniques for surgeons. The most remarckable characteristics of the prototype described in this paper are: 1) the small diameter and the small radius of curvature of bending; 2) the confirmation of the perfect cleanness and sterilization of this manipulator. Firstly, we made new mechanism of bending forceps. Using mechanism, we made new prototype of forceps manipulator which diameter is 5mm. Secondly, we developed new concept of man-machine interface for the system. It will show the new control method and surgeons can operate surgeries with more dexterity and without confusion. We evaluated the system including new interface on typical laparosurgical procedure using stimulator, and confirmed the effectiveness of this concepts.

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Authors and Affiliations

  1. Dept. of Precision Engineering, Graduate School of Engineering, the Univ. of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
    Ryoichi Nakamura
  2. Institute of Environmental Studies, Graduate school of Frontier Science, the Univ. of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
    Takeshi Oura, Etsuko Kobayashi, Ichiro Sakuma, Takeyoshi Dohi, Naoki Yahagi & Takayuki Tsuji
  3. Department of Surgery and Science, Graduate School of Medical Sciences, Kyushu University, 3-1-1, Maidashi, Higashi-ku, Hukuoka, 812-8582, Japan
    Mitsuo Shimada
  4. Dept. of Disaster and Emergency Medicine, Grad. School of Medical Science, Kyushu University, 3-1-1, Maidashi, Higashi-ku, Hukuoka, 812-8582, Japan
    Makoto Hashizume

Authors

  1. Ryoichi Nakamura
  2. Takeshi Oura
  3. Etsuko Kobayashi
  4. Ichiro Sakuma
  5. Takeyoshi Dohi
  6. Naoki Yahagi
  7. Takayuki Tsuji
  8. Mitsuo Shimada
  9. Makoto Hashizume

Editor information

Editors and Affiliations

  1. Image Sciences Institute, University Medical Center Utrecht, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands
    Wiro J. Niessen & Max A. Viergever &

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© 2001 Springer-Verlag Berlin Heidelberg

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Nakamura, R. et al. (2001). Multi-DOF Forceps Manipulator System for Laparoscopic Surgery – Mechanism Miniaturized & Evaluation of New Interface -. In: Niessen, W.J., Viergever, M.A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2001. MICCAI 2001. Lecture Notes in Computer Science, vol 2208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45468-3\_73

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