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Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo surgery

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

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.

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Acknowledgements

The authors would like to thank Mr. Ayumu Sasaki for developing guiding LODEM and Mr. Seungseong Han for developing portable LODEM.

Funding

The present study was supported in part by Japan Society for the Promotion of Science (JSPS) KAKENHI Grant Numbers 18K04065 and 16H01859.

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Authors and Affiliations

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

    Shohei Fukui & 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

  5. Faculty of Textile Science and Technology, Shinshu University, Ueda, 386-8567, Japan

    Noriyasu Iwamoto

  6. Institute of Advanced Biomedical Engineering and Science, Tokyo Women’s Medical University, Shinjuku, 162-8666, Japan

    Yuki Horise & Ken Masamune

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  1. Shohei Fukui
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Correspondence to Toshikazu Kawai.

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Fukui, S., Kawai, T., Nishizawa, Y. et al. Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo surgery. Int J CARS 16, 683–693 (2021). https://doi.org/10.1007/s11548-021-02338-9

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  • DOI: https://doi.org/10.1007/s11548-021-02338-9

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