2A1-K07 単孔式内視鏡手術を支援する新方式マスタ・スレーブロボット : 腹壁を介してマスタとスレーブが連動するシステム(手術支援ロボティクス・メカトロニクス(1))

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  • 2A1-K07 A New Master-slave Robot for Single-incision Laparoscopic Surgery : Slave works together with master like an instrument passing through an abdominal wall(Surgical Robotics and Mechatronics (1))

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Laparoscopic surgery has been used in various surgeries because it brings many benefits for patients such as smaller scar, less pain, and shorter hospitalization compared with open surgery. Moreover recently, single-incision laparoscopic surgery (SILS), in which surgical instruments are all inserted into a single incision, provides more cosmetic benefits than laparoscopic surgery although it has problems like the narrowness of the operating range, the interference between the surgical instruments, and the visual obstruction of the surgical site. In order to overcome the difficulty of SILS, we proposed a "patient-mounted" master-slave robot system which brings surgeons the operability similar to normal laparoscopic surgery. We confirmed the feasibility of our proposed system by making an initial prototype of "patient-mounted" master consoles and "patient-inserted" slave robots.

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