Development of Robotic Forceps for Laparoscopic Surgery

Makoto Jinno; Takamitsu Sunaoshi; Toyomi Miyagawa; Takehiro Hato; Nobuto Matsuhira; Yasuhide Morikawa; Soji Ozawa; Masaki Kitajima

doi:10.20965/jrm.2006.p0249

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JRM Vol.18 No.3 pp. 249-256

doi: 10.20965/jrm.2006.p0249

(2006)

Paper:

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Development of Robotic Forceps for Laparoscopic Surgery

Makoto Jinno^, Takamitsu Sunaoshi^, Toyomi Miyagawa^,
Takehiro Hato^, Nobuto Matsuhira^*, Yasuhide Morikawa^,
Soji Ozawa^, and Masaki Kitajima^**

^*Corporate R&D Center, Toshiba Corporation, 1 Komukai Toshiba-cho, Saiwai-ku, Kawasaki 212-8582, Japan

^**School of Medicine, Keio University

Received:

October 31, 2005

Accepted:

April 17, 2006

Published:

June 20, 2006

Keywords:

master-slave manipulator, laparoscopic surgery, minimally invasive surgery, suture, forceps

Abstract

Minimally invasive surgery accelerates postoperative recovery, but can only be applied by surgeons having advanced conduct skills. We developed a master-slave manipulator, i.e., robotic forceps for laparoscopic surgery that enhances surgical skill. Robotic forceps consists of a master-slave manipulator, a support component, a controller, an operating conditions display, and a foot switch for changing operating conditions. This paper details specifications and components of robotic forceps and evaluates conductance, such as measurement of the slave hand’s grip and suturing and ligaturing, conducted on a sponge stomach model. A comparison of support function in experiments demonstrates their effectiveness.

Cite this article as:

Makoto Jinno, Takamitsu Sunaoshi, Toyomi Miyagawa,
Takehiro Hato, Nobuto Matsuhira, Yasuhide Morikawa,
Soji Ozawa, and Masaki Kitajima, “Development of Robotic Forceps for Laparoscopic Surgery,” J. Robot. Mechatron., Vol.18, No.3, pp. 249-256, 2006.

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References

[1] http://www.mhlw.go.jp/toukei/saikin/hw/iryosd/02/
[2] “An Investigation of Endoscopic Surgery (The Results of the 7th Questionnaires),” Journal of Japan Society for Endoscopic Surgery, Vol.9, No.5, pp. 475-569, 2004 (in Japanese).
[3] A. J. Madhani, G. Niemeyer, and J. K. Salisbury, “The Black Falcon: A Teleoperated Surgical Instrument for Minimally Invasive Surgery,” Proc. 1998 IEEE/RSJ Int. Conf. IROS, pp. 936-944, 1998.
[4] K. Ikuta, M. Nokata, and S. Aritomi, “Hyper Redundant Active Endoscope for Minimally Invasive Surgery,” Journal of Robotics Society of Japan, Vol.16, No.4, pp. 569-575, 1998 (in Japanese).
[5] M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry, “A Laparoscopic Telesurgical Workstation,” IEEE Trans. Robotics and Automation, Vol.15, No.4, pp. 728-739, 1999.
[6] M. Mitsuishi, S. Tomisaki, T. Yoshidome, H. Hashizume, and K. Fujiwara, “Tele-micro-surgery system with intelligent user interface,” Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp. 1607-1614, 2000.
[7] H. Kazerooni, “Human/robot interaction via transfer of power and information signals Part I: Dynamics and Control analysis,” Proc. IEEE Int. Conf on Robotics and Automation (1989), pp. 1632-1640.
[8] M. O. Schurr, “Robotic Devices for Advanced Endoscopic Surgical Procedures: An Overview,” Journal of Robotics Society of Japan, Vol.18, No.1, pp. 16-19, 2000.
[9] R. Kumar, P. Berkelman, P. Gupta, A. Barnes, P. Jensen, L. L. Whitcomb, and R. H. Taylor, “Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation,” Proc. IEEE Int. Conf. on Robotics and Automation (2000), pp. 610-617.
[10] R. Nakamura, T. Oura, E. Kobayashi, I. Sakuma, T. Dohi, N. Yahagi, T. Tsuji, D. Hashimoto, M. Shimada, and M. Hashizume, “Multi-DOF Forceps Manipulator System for Laparoscopic Surgery –Mechanism miniaturized & Evaluation of New Interface–,” Proc. 4th MICCAI2001, pp. 606-613, 2001.
[11] S. Shimachi, A. Hashimoto, and M. Sakaguchi, “Motion order system for the end effector of an instrument used in endoscopic surgery,” Advanced Robotics, Vol.17, No.6, pp. 481-501, 2003.
[12] http://www.intuitivesurgical.com
[13] N. Matsuhira, M. Jinno, T. Miyagawa, T. Sunaoshi, T. Takehiro, Y. Morikawa, T. Furukawa, S. Ozawa, M. Kitajima, and K. Nakazawa, “Development of a functional model for a master-slave combined manipulator for laparoscopic surgery,” Advanced Robotics, Vol.17, No.6, pp. 523-539, 2003.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.

[1] [1] http://www.mhlw.go.jp/toukei/saikin/hw/iryosd/02/

[2] [2] “An Investigation of Endoscopic Surgery (The Results of the 7th Questionnaires),” Journal of Japan Society for Endoscopic Surgery, Vol.9, No.5, pp. 475-569, 2004 (in Japanese).

[3] [3] A. J. Madhani, G. Niemeyer, and J. K. Salisbury, “The Black Falcon: A Teleoperated Surgical Instrument for Minimally Invasive Surgery,” Proc. 1998 IEEE/RSJ Int. Conf. IROS, pp. 936-944, 1998.

[4] [4] K. Ikuta, M. Nokata, and S. Aritomi, “Hyper Redundant Active Endoscope for Minimally Invasive Surgery,” Journal of Robotics Society of Japan, Vol.16, No.4, pp. 569-575, 1998 (in Japanese).

[5] [5] M. C. Cavusoglu, F. Tendick, M. Cohn, and S. S. Sastry, “A Laparoscopic Telesurgical Workstation,” IEEE Trans. Robotics and Automation, Vol.15, No.4, pp. 728-739, 1999.

[6] [6] M. Mitsuishi, S. Tomisaki, T. Yoshidome, H. Hashizume, and K. Fujiwara, “Tele-micro-surgery system with intelligent user interface,” Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp. 1607-1614, 2000.

[7] [7] H. Kazerooni, “Human/robot interaction via transfer of power and information signals Part I: Dynamics and Control analysis,” Proc. IEEE Int. Conf on Robotics and Automation (1989), pp. 1632-1640.

[8] [8] M. O. Schurr, “Robotic Devices for Advanced Endoscopic Surgical Procedures: An Overview,” Journal of Robotics Society of Japan, Vol.18, No.1, pp. 16-19, 2000.

[9] [9] R. Kumar, P. Berkelman, P. Gupta, A. Barnes, P. Jensen, L. L. Whitcomb, and R. H. Taylor, “Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation,” Proc. IEEE Int. Conf. on Robotics and Automation (2000), pp. 610-617.

[10] [10] R. Nakamura, T. Oura, E. Kobayashi, I. Sakuma, T. Dohi, N. Yahagi, T. Tsuji, D. Hashimoto, M. Shimada, and M. Hashizume, “Multi-DOF Forceps Manipulator System for Laparoscopic Surgery –Mechanism miniaturized & Evaluation of New Interface–,” Proc. 4th MICCAI2001, pp. 606-613, 2001.

[11] [11] S. Shimachi, A. Hashimoto, and M. Sakaguchi, “Motion order system for the end effector of an instrument used in endoscopic surgery,” Advanced Robotics, Vol.17, No.6, pp. 481-501, 2003.

[12] [12] http://www.intuitivesurgical.com

[13] [13] N. Matsuhira, M. Jinno, T. Miyagawa, T. Sunaoshi, T. Takehiro, Y. Morikawa, T. Furukawa, S. Ozawa, M. Kitajima, and K. Nakazawa, “Development of a functional model for a master-slave combined manipulator for laparoscopic surgery,” Advanced Robotics, Vol.17, No.6, pp. 523-539, 2003.

Development of Robotic Forceps for Laparoscopic Surgery

Makoto Jinno*, Takamitsu Sunaoshi*, Toyomi Miyagawa*, Takehiro Hato*, Nobuto Matsuhira*, Yasuhide Morikawa**, Soji Ozawa**, and Masaki Kitajima**

Makoto Jinno^, Takamitsu Sunaoshi^, Toyomi Miyagawa^,
Takehiro Hato^, Nobuto Matsuhira^*, Yasuhide Morikawa^,
Soji Ozawa^, and Masaki Kitajima^**