Abstract
Water-Filled Laparo-Endscopic Surgery (WaFLES) is a surgical technique which is performed by irrigating the abdominal cavity with liquid. By applying WaFLES to laser surgery, heat effect from the laser irradiation is reduced by cooling effect of the fluid irrigation in abdominal cavity. However, it is difficult to perform laser irradiation accurately inside the abdomen, because the organ is always floating in water by buoyancy. Therefore, we introduced a surgical robot system that enables a high-precision laser irradiation to a moving organ in abdominal cavity. In this study, as a basic technique we developed a system which measured organ motion in abdominal cavity filled with a liquid and then evaluated the usefulness of this system. Experiment results show that the motion error is about 0.3-0.6mm and the computation speed is about 56ms.
