title: Mobile locally operated detachable end-effector manipulator for endoscopic surgery.
abstract: OBJECTIVE
  Local surgery is safer than remote surgery because emergencies can be more easily addressed. Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction. A new manipulator with a detachable commercial forceps was developed that can act as a third arm for a surgeon situated in a sterile area near the patient. This mechanism can be disassembled into compact parts that enable mobile use.
  
  
  METHODS
  A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested. This device uses crank-slider and cable-rod mechanisms to achieve 5 degrees of freedom and an acting force of more than 5 N. The total mass is less than 15 kg. The positional accuracy and speed of the prototype device were evaluated while performing simulated in vivo surgery.
  
  
  RESULTS
  The accuracy of the mobile LODEM was 0.4 mm, sufficient for handling organs. The manipulator could be assembled and disassembled in 8 min, making it highly mobile. The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure.
  
  
  CONCLUSIONS
  A mobile LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. This device is highly promising for robotic surgery applications.
authors.affiliation: Graduate School of Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi Ward, Osaka , 535-8585, Japan, kawai@bme.oit.ac.jp.
authors.forename: Toshikazu
authors.initials: T
authors.lastname: Kawai
authors.forename: Myongyu
authors.initials: M
authors.lastname: Shin
authors.forename: Yuji
authors.initials: Y
authors.lastname: Nishizawa
authors.forename: Yuki
authors.initials: Y
authors.lastname: Horise
authors.forename: Atsushi
authors.initials: A
authors.lastname: Nishikawa
authors.forename: Tatsuo
authors.initials: T
authors.lastname: Nakamura
mesh_terms: D004724:Endoscopy / Q000295:instrumentation* / Q000379:methods; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation*; D013525:Surgical Instruments