Medical Robot and Master Slave System for Minimally Invasive Surgery
- 1 May 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A robotic surgical system reduces stress on the patient, equalizes differences in the quality of local medical service, and enhances emergency medical care and medical education. Robotic surgery is particularly appropriate for minimally invasive surgery (MIS) because it achieves high operational accuracy even in concealed regions. The minimally invasive surgical system introduced in this paper comprises master manipulators operated by a surgeon and slave manipulators that conduct the surgery. The system transmits the total environment of the operating room and reduces the load applied to soft tissues by approximately 30% by implementing an augmented force presentation capability for the surgeon. In the system developed for the total knee arthroplasty (TKA), minimal invasiveness was achieved by generating a tool path employing multiple degrees of freedom of the surgical robot to avoid injury to the soft tissues. The bone-cutting force and resulting temperature rise were limited by employing cutting conditions compatible with bone viability.Keywords
This publication has 9 references indexed in Scilit:
- A remote surgery experiment between Japan and Thailand over Internet using a low latency CODEC systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2007
- Bending Laser Manipulator for Intrauterine Surgery and Viscoelastic Model of Fetal Rat TissuePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2007
- A remote surgery experiment between Japan-Korea using the minimally invasive surgical systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Safety and Accuracy Considerations in Developing a Small Sterilizable Robot for Orthopaedic SurgeryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Cutting Temperature and Cooling Effects in End Milling of BoneJournal of the Japan Society for Precision Engineering, Contributed Papers, 2006
- BRIGIT, a Robotized Tool Guide for Orthopedic SurgeryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A Study of Bone Micro-Cutting Characteristics Using a Newly Developed Advanced Bone Cutting Machine Tool for Total Knee ArthroplastyCIRP Annals, 2005
- Robot-assisted femoral stem implantation using an intramedulla gaugeIEEE Transactions on Robotics and Automation, 2003
- Medical Service and Robotics in 21st Century. Expectations to medical robotics in 21st Century.Journal of the Robotics Society of Japan, 2000