2A1-L01 Development and Evaluation of Flexing Instruments Used for a Master-slave Robot System for Single-incision Laparoscopic Surgery(Surgical Robotics and Mechatronics (1))

Abstract

Single-incision laparoscopic surgery (SILS) is less invasive than conventional laparoscopic surgery which requires several incisions to perform surgery. However, burden of an operator performing it increases for some reasons such as the limitation of operating ranges, interference between surgical instruments and a laparoscope and requirement of practice. To solve these problems, we developed a master-slave robot system which can conduct as if the operator was performing conventional laparoscopic surgery. We confirmed that our system would reduce the burden of surgeon in SILS by conducting simulation experiments. In this paper, in order to evaluate the proposed system with the real machine, we designed and made two kinds of flexing instruments, and we evaluated the instruments through real experiments.