title: A novel locally operated master-slave robot system for single-incision laparoscopic surgery.
abstract: OBJECTIVE
  Single-incision laparoscopic surgery (SILS) provides more cosmetic benefits than conventional laparoscopic surgery but presents operational difficulties. To overcome this technical problem, we have developed a locally operated master-slave robot system that provides operability and a visual field similar to conventional laparoscopic surgery.
  
  
  METHODS
  A surgeon grasps the master device with the left hand, which is placed above the abdominal wall, and holds a normal instrument with the right hand. A laparoscope, a slave robot, and the right-sided instrument are inserted through one incision. The slave robot is bent in the body cavity and its length, pose, and tip angle are changed by manipulating the master device; thus the surgeon has almost the same operability as with normal laparoscopic surgery. To evaluate our proposed system, we conducted a basic task and an ex vivo experiment.
  
  
  RESULTS
  In basic task experiments, the average object-passing task time was 9.50 sec (SILS cross), 22.25 sec (SILS parallel), and 7.23 sec (proposed SILS). The average number of instrument collisions was 3.67 (SILS cross), 14 (SILS parallel), and 0.33 (proposed SILS). In the ex vivo experiment, we confirmed the applicability of our system for single-port laparoscopic cholecystectomy.
  
  
  CONCLUSIONS
  We demonstrated that our proposed robot system is useful for single-incision laparoscopic surgery.
authors: Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University , Toyonaka , Japan.
authors: Yuki
authors: Y
authors: Horise
authors: Toshinobu
authors: T
authors: Matsumoto
authors: Hiroki
authors: H
authors: Ikeda
authors: Yuta
authors: Y
authors: Nakamura
authors: Makoto
authors: M
authors: Yamasaki
authors: Genta
authors: G
authors: Sawada
authors: Yukiko
authors: Y
authors: Tsukao
authors: Yujiro
authors: Y
authors: Nakahara
authors: Masaaki
authors: M
authors: Yamamoto
authors: Shuji
authors: S
authors: Takiguchi
authors: Yuichiro
authors: Y
authors: Doki
authors: Masaki
authors: M
authors: Mori
authors: Fumio
authors: F
authors: Miyazaki
authors: Mitsugu
authors: M
authors: Sekimoto
authors: Toshikazu
authors: T
authors: Kawai
authors: Atsushi
authors: A
authors: Nishikawa
mesh_terms: D000818:Animals; D017081:Cholecystectomy, Laparoscopic / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D013552:Swine; D013997:Time Factors
keywords: Local operation; laparoscopic surgery; master-slave; single incision