Title: Miniature endoscope manipulator for minimally invasive surgery

Authors: Raj Kumar Pal; Amod Kumar

Addresses: CSIR-Central Scientific Instruments Organisation, Sector 30 C, Chandigarh-160030, India ' CSIR-Central Scientific Instruments Organisation, Sector 30 C, Chandigarh-160030, India

Abstract: This paper deals with the design and analysis of a manipulator to control the position and orientation of an endoscope during minimally invasive abdominal surgery. The endoscope manipulator assists the surgeon to manipulate endoscope orientation for viewing the area of interest inside the abdomen. The designed manipulator has three degrees of freedom (DOF): one translational (for taking the endoscope in and out of the abdomen) and two rotational (for desired orientation of endoscope) and is operated by the surgeon using a foot-pedal to eliminate the need of an endoscope assistant. Foot pedal control allows the surgeon to use both hands for the surgery. The elimination of the need for manual stabilisation of endoscope leads to removal of tremor, which occurs due to handling of endoscope manually. Thus endoscope can be placed closer to the target organ with fewer collisions with inner parts of the body and other surgical tools being used. The designed endoscope manipulator presented in the study is small in size, light weight, simple, easy to setup and use, when compared to conventional laparoscopic surgical systems. It has been tested for its motions at the laboratory, which were found satisfactory.

Keywords: endoscope manipulators; foot pedal; minimally invasive surgery; robotic surgery; robot design; manipulator design; endoscope pose; abdominal surgery; endoscope orientation; endoscope positioning; robot motion; robot control.

DOI: 10.1504/IJMRS.2014.064336

International Journal of Mechanisms and Robotic Systems, 2014 Vol.2 No.1, pp.34 - 50

Received: 09 Mar 2012
Accepted: 18 Mar 2013

Published online: 18 Aug 2014 *

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