TY - JOUR
T1 - Development and evaluation of a master-slave robot system for single-incision laparoscopic surgery
AU - Horise, Yuki
AU - Nishikawa, Atsushi
AU - Sekimoto, Mitsugu
AU - Kitanaka, Yu
AU - Miyoshi, Norikatsu
AU - Takiguchi, Shuji
AU - Doki, Yuichiro
AU - Mori, Masaki
AU - Miyazaki, Fumio
N1 - Funding Information:
Acknowledgments This research was supported by a Grant-in-Aid for Scientific Research (A) of the Japan Society for the Promotion of Science (Project Number 19206047). We are grateful to Professor Yoshiki Sawa and the entire staff of the Medical Center for Translational Research, Osaka University Hospital, who provided the opportunity to use the ZEUS surgical system. Also, we would like to express our deep gratitude to the surgeons of Osaka University Hospital who agreed to assist with our research.
PY - 2012/3
Y1 - 2012/3
N2 - Purpose Single-incision laparoscopic surgery (SILS) brings cosmetic benefits for patients, but this procedure is more difficult than laparoscopic surgery. In order to reduce surgeons' burden, we have developed a master-slave robot system which can provide robot-assisted SILS as if it were performing conventional laparoscopic surgery and confirmed the feasibility of our proposed system. Methods The proposed system is composed of an input device (master side), a surgical robot system (slave side), and a control PC. To perform SILS in the same style as regular laparoscopic surgery, input instruments are inserted into multiple incisions, and the tip position and pose of the left-sided (right-sided) robotic instrument on the slave side follow those of the right-sided (left-sided) input instruments on the master side by means of a control command from the PC. To validate the proposed system, we defined four operating conditions and conducted simulation experiments and physical experiments with surgeons under these conditions, then compared the results. Results In the simulation experiments, we found learning effects between trials (P = 0.00013 < 0.05). Our proposed system had no significant difference from a condition simulating classical laparoscopic surgery (P = 0.23 > 0.1), and the task time of our system was significantly shorter than the simulated SILS (P = 0.011 < 0.05). In the physical experiments, our system performed SILS more easily, efficiently, and intuitively than the other operating conditions. Conclusion Our proposed system enabled the surgeons to perform SILS as if they were operating conventionally with laparoscopic techniques.
AB - Purpose Single-incision laparoscopic surgery (SILS) brings cosmetic benefits for patients, but this procedure is more difficult than laparoscopic surgery. In order to reduce surgeons' burden, we have developed a master-slave robot system which can provide robot-assisted SILS as if it were performing conventional laparoscopic surgery and confirmed the feasibility of our proposed system. Methods The proposed system is composed of an input device (master side), a surgical robot system (slave side), and a control PC. To perform SILS in the same style as regular laparoscopic surgery, input instruments are inserted into multiple incisions, and the tip position and pose of the left-sided (right-sided) robotic instrument on the slave side follow those of the right-sided (left-sided) input instruments on the master side by means of a control command from the PC. To validate the proposed system, we defined four operating conditions and conducted simulation experiments and physical experiments with surgeons under these conditions, then compared the results. Results In the simulation experiments, we found learning effects between trials (P = 0.00013 < 0.05). Our proposed system had no significant difference from a condition simulating classical laparoscopic surgery (P = 0.23 > 0.1), and the task time of our system was significantly shorter than the simulated SILS (P = 0.011 < 0.05). In the physical experiments, our system performed SILS more easily, efficiently, and intuitively than the other operating conditions. Conclusion Our proposed system enabled the surgeons to perform SILS as if they were operating conventionally with laparoscopic techniques.
UR - http://www.scopus.com/inward/record.url?scp=84862988282&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84862988282&partnerID=8YFLogxK
U2 - 10.1007/s11548-011-0658-1
DO - 10.1007/s11548-011-0658-1
M3 - Article
C2 - 21927865
AN - SCOPUS:84862988282
VL - 7
SP - 289
EP - 296
JO - Computer-Assisted Radiology and Surgery
JF - Computer-Assisted Radiology and Surgery
SN - 1861-6410
IS - 2
ER -