Multi-DOF forceps manipulator system for laparoscopic surgery - Mechanism miniaturized and evaluation of new interface

Ryoichi Nakamura, Takeshi Oura, Etsuko Kobayashi, Ichiro Sakuma, Takeyoshi Dohi, Naoki Yahagi, Takayuki Tsuji, Mitsuo Shimada, Makoto Hashizume

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

25 Citations (Scopus)

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 remarkable 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 perfect cleanness and sterilization of this manipulator. In this paper, we will show some new mechanisms of the forceps manipulator. Firstly, we made new mechanism of bending forceps. Using the 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 simulator, and confirmed the effectiveness of this concepts.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings
EditorsWiro J. Niessen, Max A. Viergever
PublisherSpringer Verlag
Pages606-613
Number of pages8
ISBN (Print)3540426973, 9783540454687
DOIs
Publication statusPublished - Jan 1 2001
Event4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands
Duration: Oct 14 2001Oct 17 2001

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2208
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001
CountryNetherlands
CityUtrecht
Period10/14/0110/17/01

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All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Nakamura, R., Oura, T., Kobayashi, E., Sakuma, I., Dohi, T., Yahagi, N., ... Hashizume, M. (2001). Multi-DOF forceps manipulator system for laparoscopic surgery - Mechanism miniaturized and evaluation of new interface. In W. J. Niessen, & M. A. Viergever (Eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings (pp. 606-613). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2208). Springer Verlag. https://doi.org/10.1007/3-540-45468-3_73