Laparoscopic ultrasound manipulator with a spring-based elastic mechanism

International Journal of Computer Assisted Radiology and Surgery
Jumpei ArataMakoto Hashizume

Abstract

Image guidance is a key technology that can improve the outcome of laparoscopic surgery. However, due to the large deformation caused by digestive organs, a computer-aided navigation system based on preoperative imaging data cannot indicate the correct target position of the lesion (e.g., liver tumors and vessels invisible from the organ surface). To overcome this issue, we developed a laparoscopic ultrasound manipulator with two motorized degrees of freedom at the tip, allowing for the performance of a dexterous ultrasound scan in a confined laparoscopic surgical area. The developed manipulator consists of a compact and elastic structure using springs, enabling a safe ultrasound scan and avoiding excess force on the inspected organs. The manipulator is a handheld device equipped with four buttons at the handle, which the surgeon directly grasps to send a motion command to the tip structure. The developed prototype realizes two motorized degree-of-freedom motion at the tip. The size of prototype is 15.0 mm in diameter that is usable in conventional laparoscopy. The tip of the manipulator was carefully designed by considering the kinematic model and the results of the finite element analysis. To assess the prototype, accuracy an...Continue Reading

References

Dec 31, 2003·Ultrasound in Medicine & Biology·Laurent SandrinRobert Palau
Aug 2, 2011·Surgical Oncology·Stéphane NicolauJacques Marescaux
Mar 8, 2014·Acta Cirúrgica Brasileira·Rafael DenadaiRogério Saad-Hossne
Feb 24, 2015·International Journal of Computer Assisted Radiology and Surgery·Jumpei ArataMakoto Hashizume
Dec 1, 2017·Healthcare Technology Letters·Rohit SinglaRobert Rohling

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