Handheld laparoscopic forceps manipulator using multi-slider linkage mechanisms

Hiromasa Yamashita, Nobuhiko Hata, Makoto Hashizume, Takeyoshi Dohi

研究成果: Contribution to journalConference article査読

29 被引用数 (Scopus)

抄録

This paper proposes a new handheld laparoscopic forceps manipulator using 2-DOFs bending mechanism by multi-slider linkage mechanisms and 1-DOF wire-driven grasping mechanism. Careful design of the linkage channels enables unique and independent bending procedure from -90 to 90 degrees on the horizontal and vertical plane to secure large workspace. The manipulator consists of multi-DOFs end-effector, linear-drive unit, dial-type interface and computer-based control unit. In mechanical performance analyses, 2-DOFs bending mechanism enabled high accuracy of less 1.0 mm manipulation and high bending power of up to 0.85 kgf. In vivo experiments, this manipulator performed laparoscopic surgical tasks, such as raising the liver and the stomach, and suturing the stomach surface tissue in 22.3 ± 5.4 seconds per suture. Furthermore, we operated cholecystectomy with an animal within 45 minutes. In conclusion we were sure of a usefulness of a new handheld laparoscopic forceps manipulator for speedy and dexterous laparoscopic surgery.

本文言語英語
ページ(範囲)121-128
ページ数8
ジャーナルLecture Notes in Computer Science
3217
1 PART 2
DOI
出版ステータス出版済み - 2004
イベントMedical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings - Saint-Malo, フランス
継続期間: 9 26 20049 29 2004

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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