Development of remote microsurgery robot and new surgical procedure for deep and narrow space

Author

Ikuta, Koji ; Yamamoto, Keiichi ; Sasaki, Keiji

Author_Institution

Dept. of Micro Syst. Eng., Nagoya Univ., Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1103

Abstract

We developed both new operation procedure and new robot system for remote micro surgery at deep and narrow space of human body. This system allows us to operate a difficult microsurgery that conventional method cannot be achieved. Our system consists of flexible stem and slave micro manipulators which can enter deep site such as brain through narrow channel. The macro motion of master manipulator can be converted into miniature motion of the slave microsurgery manipulator with five degrees of freedom in 3 mm diameter. This system has been taking advantage of flexible catheter and decoupled micro manipulator invented by Ikuta. Total performance was verified by animal experiment.

Keywords

catheters; medical robotics; micromanipulators; surgery; telerobotics; deep space; flexible catheter; flexible stem; human body; macro motion; master manipulator; narrow space; remote microsurgery robot; slave micromanipulators; surgical procedure; Animals; Catheters; Endoscopes; Esophagus; Humans; Master-slave; Microscopy; Microsurgery; Oncological surgery; Orbital robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241740

Filename

1241740