title: [New master arm for transurethral resection with a robot].
abstract: OBJECTIVE
  In 1998, we designed a robot for transurethral resection that consisted of a master arm and a slave arm that reproduced the movements of the master. We describe the innovative master arm developed in two university departments that supersedes the mere "joystick" concept to become a true, operative surgical instrument.
  
  
  METHODS
  The new master arm was developed from a conventional resectoscope working element integrated into a robotic manipulative device and fitted with angular displacement sensors. Each sensor, part of a computer-controlled feed back system commands the position and movements of the slave arm which, in turn, move the resectoscope. The surgeon freely chooses and manages precisely within a three-dimensional surgical field four basic resectoscope maneuvers; horizontal and vertical displacement, penetration-withdrawal, and rotation; he also controls the movements and operation of the resectoscope cutting loop. Additional computer-programs provide the surgeon with an error-free, fail-safe surgical instrument that denies any movements outside the planned surgical field.
  
  
  RESULTS
  The fact that the new easily used instrument is similar in shape and works like conventional resectoscopes greatly helps familiarization and training. Advanced technology reduces the number of errors usually associated with fatigue or inexperience of the surgeon.
  
  
  CONCLUSIONS
  The new surgical instrument handles just like conventional instruments so surgeons do not need to change their usual operating procedures. In addition, an early-warning program detects instantly and denies inappropriate maneuvers. This facility confers peace of mind to the surgeon and ensures patient satisfaction.
authors.affiliation: Unidad Docente de Urología, Departamento de Cirugía, Facultad de Medicina y Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingenieros Industriales, Universidad de Málaga, Málaga, España.
authors.forename: Eduardo
authors.initials: E
authors.lastname: Sánchez de Badajoz
authors.forename: Adolfo
authors.initials: A
authors.lastname: Jiménez Garrido
authors.forename: Francisco
authors.initials: F
authors.lastname: García Vacas
authors.forename: Víctor Fernando
authors.initials: VF
authors.lastname: Muñoz Martínez
authors.forename: Jesús
authors.initials: J
authors.lastname: Gómez de Gabriel
authors.forename: Jesús
authors.initials: J
authors.lastname: Fernández Lozano
authors.forename: Alfonso
authors.initials: A
authors.lastname: García Cerezo
mesh_terms: D004867:Equipment Design; D006801:Humans; D008297:Male; D011468:Prostatectomy / Q000295:instrumentation* / Q000379:methods*; D012371:Robotics / Q000295:instrumentation*