Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes

Mikio Osaki; Toru Omata; Toshio Takayama

doi:10.20965/jrm.2013.p0863

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JRM Vol.25 No.5 pp. 863-870

doi: 10.20965/jrm.2013.p0863

(2013)

Paper:

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Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes

Mikio Osaki, Toru Omata, and Toshio Takayama

Department of Mechano-Micro Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, Kanagawa 226-8502, Japan

Received:

February 26, 2013

Accepted:

July 23, 2013

Published:

October 20, 2013

Keywords:

laparoscopic surgery, robot hand, ultrasound sensing, assemblable hand, medical robot

Abstract

During laparoscopic surgery, large internal organs should often be manipulated while being internally visualized. For this purpose, we study an assemblable two-fingered hand implemented with an ultrasound probe. The fingers are separately introduced into the abdominal cavity through small incisions and are assembled into a hand sufficiently large to grasp or manipulate the large organ. Two types of ultrasound probes are employed; a phased array probe of a commercially available ultrasound diagnosis system, and a single-element probe. Using the latter probe, the hand is assembled through 12 mm trocars and is assessed in an in vivo experiment. Ultrasound echo sensing is found to retrieve diagnostic information regarding specific internal organs. It also visualizes the finger and its back during grasping, which can improve the safety of hand grasping and manipulation. Furthermore, ultrasound echo sensing can assist the measurement of the relative position and orientation of the two grasping fingers.

Cite this article as:

M. Osaki, T. Omata, and T. Takayama, “Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes,” J. Robot. Mechatron., Vol.25 No.5, pp. 863-870, 2013.

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References

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[2] K. Maruta, “Ultrasound probe for the body cavity,” Japan patent publication, No.1999-299789, 1999.
[3] S. E. Salcudean, G. Bell, S. Bachmann,W. H. Zhu, P. Abolmaesumi, and P. D. Lawrence, “Robot-assisted diagnostic ultrasound – Design and feasibility experiments,” in Medical Image Computing and Computer Assisted Intervention, New York: Springer, pp. 1062-1071, 1999.
[4] P. Abolmaesumi, S. E. Salcudean, W. Zhu, M. R. Sirouspour, and S. P. DiMaio, “Image-Guided Control of a Robot for Medical Ultrasound,” IEEE Trans. on Robotics and Automation, Vol.18, No.1, pp. 11-23, 2002.
[5] E.M. Boctor, G. Fischer, M. A. Choti, G. Fichtinger, and R. H. Taylor, “A Dual-Armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy: A Prospective Study,” Proc. of the IEEE Int. Conf. on Robotics and Automation, 2004.
[6] Y. Aoki, K. Kaneko, T. Sakai, and K.Masuda, “A study of scanning the ultrasound probe on body surface and construction of visual servo system based on echogram,” J. of Robotics and Mechatronics, Vol.22, No.3, pp. 273-279, 2010.
[7] N. Koizumi, S. Warisawa, M. Nagoshi, H. Hashizume, and M. Mitsuishi, “Construction Methodology for a Remote Ultrasound Diagnostic System,” IEEE Trans. on Robotics, Vol.25, No.3, pp. 522-538, 2009.
[8] C. M. Schneider, G. W. Dachs II, C. J. Hasser, M. A. Choti, S. P. DiMaio, and R. H. Taylor, “Robot-Assisted Laparoscopic Ultrasound,” Information Processing in Computer-Assisted Interventions, Lecture Notes in Computer Science, Vol.6135, pp. 67-80, 2010.
[9] C. Schneider, J. Guerrero, C. Nguan, R. Rohling, and S. Salcudean, “Intra-operative “Pick-Up” Ultrasound for Robot Assisted Surgery with Vessel Extraction and Registration: A Feasibility Study,” Information Processing in Computer-Assisted Interventions, Lecture Notes in Computer Science, Vol.6689, pp. 122-132, 2011.
[10] R. Oshima, T. Takayama, T. Omata, K. Kojima, K. Takase, and N. Tanaka, “Assemble Three-Fingered Nine-Degrees-of-Freedom Hand for Laparoscopic Surgery,” IEEE/ASME Trans. on Mechatronics, Vol.15, No.6, pp. 862-870, 2010.
[11] M. Osaki, T. Takayama, T. Omata, T. Ohya, K. Kojima, K. Takase, and N. Tanaka, “Proposal of a Single-Trocar Assemblable Hand for Laparoscopic Surgery,” Advanced Robotics, Vol.25, No.13-14, pp. 1713-1728, 2011.
[12] M. Osaki, T. Omata, T. Takayama, and T. Sawanobori, “Assemblable Hand for Laparoscopic Surgery with Ultrasound Probes,” Proc. of the 2011 IEEE/SICE Int. Symposium on System Integration, pp. 156-161, 2011.
[13] J. Akbari, M. Imamura, T. Tanaka, and Y. Saito, “Using Ultrasound for Measuring Grasping Force of Robot Soft Finger,” JSME Int. J., Vol.47, No.1, pp. 175-179, 2004.

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

[1] [1] M. Bezzi, G. Silecchia, A. De Leo, I. Carbone, D. Pepino, and P. Rossi, “Laparoscopic and intraoperative ultrasound,” European J. of Radiology, Vol.27, No.2, S207-S214, 1998.

[2] [2] K. Maruta, “Ultrasound probe for the body cavity,” Japan patent publication, No.1999-299789, 1999.

[3] [3] S. E. Salcudean, G. Bell, S. Bachmann,W. H. Zhu, P. Abolmaesumi, and P. D. Lawrence, “Robot-assisted diagnostic ultrasound – Design and feasibility experiments,” in Medical Image Computing and Computer Assisted Intervention, New York: Springer, pp. 1062-1071, 1999.

[4] [4] P. Abolmaesumi, S. E. Salcudean, W. Zhu, M. R. Sirouspour, and S. P. DiMaio, “Image-Guided Control of a Robot for Medical Ultrasound,” IEEE Trans. on Robotics and Automation, Vol.18, No.1, pp. 11-23, 2002.

[5] [5] E.M. Boctor, G. Fischer, M. A. Choti, G. Fichtinger, and R. H. Taylor, “A Dual-Armed Robotic System for Intraoperative Ultrasound Guided Hepatic Ablative Therapy: A Prospective Study,” Proc. of the IEEE Int. Conf. on Robotics and Automation, 2004.

[6] [6] Y. Aoki, K. Kaneko, T. Sakai, and K.Masuda, “A study of scanning the ultrasound probe on body surface and construction of visual servo system based on echogram,” J. of Robotics and Mechatronics, Vol.22, No.3, pp. 273-279, 2010.

[7] [7] N. Koizumi, S. Warisawa, M. Nagoshi, H. Hashizume, and M. Mitsuishi, “Construction Methodology for a Remote Ultrasound Diagnostic System,” IEEE Trans. on Robotics, Vol.25, No.3, pp. 522-538, 2009.

[8] [8] C. M. Schneider, G. W. Dachs II, C. J. Hasser, M. A. Choti, S. P. DiMaio, and R. H. Taylor, “Robot-Assisted Laparoscopic Ultrasound,” Information Processing in Computer-Assisted Interventions, Lecture Notes in Computer Science, Vol.6135, pp. 67-80, 2010.

[9] [9] C. Schneider, J. Guerrero, C. Nguan, R. Rohling, and S. Salcudean, “Intra-operative “Pick-Up” Ultrasound for Robot Assisted Surgery with Vessel Extraction and Registration: A Feasibility Study,” Information Processing in Computer-Assisted Interventions, Lecture Notes in Computer Science, Vol.6689, pp. 122-132, 2011.

[10] [10] R. Oshima, T. Takayama, T. Omata, K. Kojima, K. Takase, and N. Tanaka, “Assemble Three-Fingered Nine-Degrees-of-Freedom Hand for Laparoscopic Surgery,” IEEE/ASME Trans. on Mechatronics, Vol.15, No.6, pp. 862-870, 2010.

[11] [11] M. Osaki, T. Takayama, T. Omata, T. Ohya, K. Kojima, K. Takase, and N. Tanaka, “Proposal of a Single-Trocar Assemblable Hand for Laparoscopic Surgery,” Advanced Robotics, Vol.25, No.13-14, pp. 1713-1728, 2011.

[12] [12] M. Osaki, T. Omata, T. Takayama, and T. Sawanobori, “Assemblable Hand for Laparoscopic Surgery with Ultrasound Probes,” Proc. of the 2011 IEEE/SICE Int. Symposium on System Integration, pp. 156-161, 2011.

[13] [13] J. Akbari, M. Imamura, T. Tanaka, and Y. Saito, “Using Ultrasound for Measuring Grasping Force of Robot Soft Finger,” JSME Int. J., Vol.47, No.1, pp. 175-179, 2004.