Concept design of robotic modules for needlescopic surgery |
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Authors: | Shin Sen Kanako Harada Zackary Hewitt Ekawahyu Susilo Etsuko Kobayashi Ichiro Sakuma |
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Institution: | 1. Graduate School of Engineering, The University of Tokyo, Tokyo, Japan;2. Department of Electrical Engineering, Clemson University, Clemson, SC, USA;3. Aisenke, Chongqing, China |
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Abstract: | Background: Many minimally invasive surgical procedures and assisting robotic systems have been developed to further minimize the number and size of incisions in the body surface. This paper presents a new idea combining the advantages of modular robotic surgery, single incision laparoscopic surgery and needlescopic surgery.Material and methods: In the proposed concept, modules carrying therapeutic or diagnostic tools are inserted in the abdominal cavity from the navel as in single incision laparoscopic surgery and assembled to 3-mm needle shafts penetrating the abdominal wall.Results: A three degree-of-freedom robotic module measuring 16?mm in diameter and 51?mm in length was designed and prototyped. The performance of the three connected robotic modules was evaluated.Conclusion: A new idea of modular robotic surgery was proposed, and demonstrated by prototyping a 3-DOF robotic module. The performance of the connected robotic modules was evaluated, and the challenges and future work were summarized. |
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Keywords: | Minimally invasive surgery needlescopic surgery robotic surgery |
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