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JRM Vol.18 No.3 pp. 249-256
doi: 10.20965/jrm.2006.p0249
(2006)

Paper:

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Development of Robotic Forceps for Laparoscopic Surgery

Makoto Jinno*, Takamitsu Sunaoshi*, Toyomi Miyagawa*,
Takehiro Hato*, Nobuto Matsuhira*, Yasuhide Morikawa**,
Soji Ozawa**, and Masaki Kitajima**

*Corporate R&D Center, Toshiba Corporation, 1 Komukai Toshiba-cho, Saiwai-ku, Kawasaki 212-8582, Japan

**School of Medicine, Keio University

Received:
October 31, 2005
Accepted:
April 17, 2006
Published:
June 20, 2006
Creative Commons License
Keywords:
master-slave manipulator, laparoscopic surgery, minimally invasive surgery, suture, forceps
Abstract
Minimally invasive surgery accelerates postoperative recovery, but can only be applied by surgeons having advanced conduct skills. We developed a master-slave manipulator, i.e., robotic forceps for laparoscopic surgery that enhances surgical skill. Robotic forceps consists of a master-slave manipulator, a support component, a controller, an operating conditions display, and a foot switch for changing operating conditions. This paper details specifications and components of robotic forceps and evaluates conductance, such as measurement of the slave hand’s grip and suturing and ligaturing, conducted on a sponge stomach model. A comparison of support function in experiments demonstrates their effectiveness.
Cite this article as:
M. Jinno, T. Sunaoshi, T. Miyagawa, T. Hato, N. Matsuhira, Y. Morikawa, S. Ozawa, and M. Kitajima, “Development of Robotic Forceps for Laparoscopic Surgery,” J. Robot. Mechatron., Vol.18 No.3, pp. 249-256, 2006.
Data files:
References
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