Development of a dexterous minimally-invasive surgical system with augmented force feedback capability

Jumpei Arata, Mamoru Mitsuishi, Shin'ichi Warisawa, Katsuya Tanaka, Takashi Yoshizawa, Makoto Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

51 Citations (Scopus)

Abstract

Several robotic surgical systems have been developed for minimally-invasive surgery including commercialized products such as da Vinci and ZEUS. We have developed a minimally-invasive surgical system, which had performed remote surgery experiments for four times until now (performed on pigs over 150 km in Japan). In this paper, two approaches that extend the system from the perspective of extensions of surgeon's dexterity are described. The first approach is a development of complex robotic forceps, which have multiple d.o.f. on their tip. A complex rigid link mechanism has been applied to the robotic forceps to realize 3 d.o.f. motions in a patient's abdominal cavity. With the rigid link mechanism, surgeons have no longer need to be concerned a cable cutting problem, which often can be happened on conventional cable driven systems. The second approach is a force feedback capability. The developed rigid link mechanism is preferable for an implementation of a force feedback capability. The force feedback capability is important not only for extending surgeon's dexterity but also for preventing unexpected damage on internal organs. An evaluation experiment of the force feedback capability on a simulated surgical procedure was conducted. An augmented force presentation method was developed that displays contact information between forceps and soft tissues. In an evaluation experiment, the load applied to soft organ tissues was reduced by approximately 30% compared with a conventional force feedback method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages3207-3212
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

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  • Cite this

    Arata, J., Mitsuishi, M., Warisawa, S., Tanaka, K., Yoshizawa, T., & Hashizume, M. (2005). Development of a dexterous minimally-invasive surgical system with augmented force feedback capability. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3207-3212). [1545551] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545551