Paper Info
Title
Locally Operated Assistant Manipulators With Selectable Connection System For Robotically Assisted Laparoscopic Solo Surgery
Abstract
Purpose By integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot and a forceps robot. At present, there is no leader-follower control system with switchable connection for the leader device in which each assistant follower robot can provide the manipulation intuitively and easily. In the present study, a new locally operated leader-follower selectable control system has been developed. Methods The leader-follower system was developed to connect one leader operating device and one of two selectable follower assistant manipulator devices with different numbers of axes, kinematics models, sensors, and actuators for view stabilization and pulling organs. The system is constructed using the middleware of the ORiN-based medical robot architecture MRLink. The system is regulated by the robot integrator application with unilateral leader-follower PTP using the relative displacement between the leader device and the selected follower device through providers of device interface including the information and control commands. Results The execution cycle for updating the position was 50 ms, and the time delay to catch up with the same position was 100 ms. Two assistant manipulators controlled by the leader-follower selectable system could successfully produce the desired view and handle the target organ model for 17 min in a simulated laparoscopic cholecystectomy. Conclusions A locally operated leader-follower selectable control system was constructed to facilitate minimally invasive, robotically assisted laparoscopic solo surgery by a doctor working near the patient. This system could be used for such applications.
Year
DOI
Venue
2021
10.1007/s11548-021-02338-9
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY
Keywords
DocType
Volume
Surgical robot, Assistant manipulator, Selectable, Leader&#8211, follower control, Laparoscopic surgery, Local operation
Journal
16
Issue
ISSN
Citations 
4
1861-6410
0
PageRank 
References 
Authors
0.34
0
8
Name
Order
Citations
PageRank
Shohei Fukui100.34
Toshikazu Kawai200.68
Yuji Nishizawa300.68
Atsushi Nishikawa400.68
Tatsuo Nakamura500.68
Noriyasu Iwamoto601.35
Yuki Horise700.34
Ken Masamune825348.57