title: Design of an integrated master-slave robotic system for minimally invasive surgery.
abstract: BACKGROUND
  Minimally invasive surgery (MIS) robots are commonly used in hospitals and medical centres. However, currently available robotic systems are very complicated and huge, greatly raising system costs and the requirements of operating rooms. These disadvantages have become the major impediments to the expansion of MIS robots.
  
  
  METHODS
  An integrated MIS robotic system is proposed based on the analysis of advantages and disadvantages of different MIS robots. In the proposed system, the master manipulators, slave manipulators, image display device and control system have been designed as a whole. Modular design is adopted for the control system for easy maintenance and upgrade. The kinematic relations between the master and the slave are also investigated and embedded in software to realize intuitive movements of hand and instrument. Finally, animal experiments were designed to test the effectiveness of the robot.
  
  
  RESULTS
  The robot realizes natural hand-eye movements between the master and the slave to facilitate MIS operations. The experimental results show that the robot can realize similar functions to those of current commercialized robots.
  
  
  CONCLUSIONS
  The integrated design simplifies the robotic system and facilitates use of the robot. Compared with the commercialized robots, the proposed MIS robot achieves similar functions and features but with a smaller size and less weight.
authors: Key Laboratory for Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin, 300072, People's Republic of China.
authors: Jianmin
authors: J
authors: Li
authors: Ningxin
authors: N
authors: Zhou
authors: Shuxin
authors: S
authors: Wang
authors: Yuanqian
authors: Y
authors: Gao
authors: Dongchun
authors: D
authors: Liu
mesh_terms: D000465:Algorithms; D000818:Animals; D001696:Biomechanical Phenomena; D004867:Equipment Design; D005133:Eye Movements; D005704:Gallbladder / Q000601:surgery; D042882:Gallstones / Q000601:surgery; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D009873:Operating Rooms; D012371:Robotics / Q000295:instrumentation*; D012984:Software; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013552:Swine