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Surgical assistant manipulator with diagonal joints and multi-stage telescopic screws for laparoscopic solo surgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

A surgeon in a sterilized area can perform robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot for view stabilization and a forceps robot for pulling organs. At present, no locally operated surgical assistant manipulator with a mechanical remote center of motion (RCM) is available to operate within a small space while providing a wide range of movement. The present study describes a new locally operated detachable end-effector manipulator (LODEM) with diagonal joints and multi-stage telescopic screws.

Methods

A forceps manipulator attached to commercial surgical forceps was developed. This manipulator uses RCM diagonal joints for the yaw and pitch axes, providing an intuitive pivot point and free rotation, and telescopic nested screws with multiple sliders clamp the commercial forceps for the axis of insertion. The manipulator placed above the abdominal wall using a fixed arm connected to a bed rail is motor controlled by a handheld interface with button switches for precise traction and is controlled manually for easy rough positioning.

Results

Positional accuracy at the tip with a load of 5 N was under 0.5 mm. Mechanical deflection was under 2.1 mm. The manually controlled force was under 4.4 N. Successful simulated laparoscopic cholecystectomy using the prototype manipulator to handle the target and maintain stability was performed on a surgically realistic gallbladder model.

Conclusions

A LODEM with diagonal joints and multi-stage telescopic screws was developed to facilitate minimally invasive, robotically assisted laparoscopic solo surgery by a surgeon working near the patient. This electric motor-controlled laparoscopic instrument holder by the surgeon in the surgical field could be used for such applications.

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Funding

The present study was supported in part by Japan Society for the Promotion of Science (JSPS) KAKENHI Grant Numbers 21K03986.

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Authors and Affiliations

  1. Graduate School of Robotics and Design, Osaka Institute of Technology, Osaka, 530-8568, Japan

    Ayumu Sasaki & Toshikazu Kawai

  2. Department of Colorectal Surgery, National Cancer Center Hospital East, Kashiwa, 277-8577, Japan

    Yuji Nishizawa

  3. Graduate School of Engineering Science, Osaka University, Toyonaka, 560-8531, Japan

    Atsushi Nishikawa

  4. Graduate School of Medicine, Kyoto University, Kyoto, 606-8507, Japan

    Tatsuo Nakamura

Authors
  1. Ayumu Sasaki
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  2. Toshikazu Kawai
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Correspondence to Toshikazu Kawai.

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Sasaki, A., Kawai, T., Nishizawa, Y. et al. Surgical assistant manipulator with diagonal joints and multi-stage telescopic screws for laparoscopic solo surgery. Int J CARS 17, 487–495 (2022). https://doi.org/10.1007/s11548-021-02553-4

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  • DOI: https://doi.org/10.1007/s11548-021-02553-4

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