Int J Comput Assist Radiol Surg - Development and evaluation of a master-slave robot system for single-incision laparoscopic surgery.

Tópicos

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Resumo

PURPOSE : Single-incision laparoscopic surgery (SILS) brings cosmetic benefits for patients, but this procedure is more difficult than laparoscopic surgery. In order to reduce surgeons' burden, we have developed a master-slave robot system which can provide robot-assisted SILS as if it were performing conventional laparoscopic surgery and confirmed the feasibility of our proposed system. METHODS : The proposed system is composed of an input device (master side), a surgical robot system (slave side), and a control PC. To perform SILS in the same style as regular laparoscopic surgery, input instruments are inserted into multiple incisions, and the tip position and pose of the left-sided (right-sided) robotic instrument on the slave side follow those of the right-sided (left-sided) input instruments on the master side by means of a control command from the PC. To validate the proposed system, we defined four operating conditions and conducted simulation experiments and physical experiments with surgeons under these conditions, then compared the results. RESULTS : In the simulation experiments, we found learning effects between trials (P?=?0.00013?<?0.05). Our proposed system had no significant difference from a condition simulating classical laparoscopic surgery (P?=?0.23?>?0.1), and the task time of our system was significantly shorter than the simulated SILS (P?=?0.011?<?0.05). In the physical experiments, our system performed SILS more easily, efficiently, and intuitively than the other operating conditions. CONCLUSION : Our proposed system enabled the surgeons to perform SILS as if they were operating conventionally with laparoscopic techniques.

Resumo Limpo

purpos singleincis laparoscop surgeri sil bring cosmet benefit patient procedur difficult laparoscop surgeri order reduc surgeon burden develop masterslav robot system can provid robotassist sil perform convent laparoscop surgeri confirm feasibl propos system method propos system compos input devic master side surgic robot system slave side control pc perform sil style regular laparoscop surgeri input instrument insert multipl incis tip posit pose leftsid rightsid robot instrument slave side follow rightsid leftsid input instrument master side mean control command pc valid propos system defin four oper condit conduct simul experi physic experi surgeon condit compar result result simul experi found learn effect trial p propos system signific differ condit simul classic laparoscop surgeri p task time system signific shorter simul sil p physic experi system perform sil easili effici intuit oper condit conclus propos system enabl surgeon perform sil oper convent laparoscop techniqu

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