Laparoscopic surgery assisted by a robotic cameraman: concept and experimental results

Abstract

Laparoscopic surgery is a new type of approach involving the use of a laparoscopic camera and special instruments which are inserted into the abdominal cavity through the abdominal wall. Over the last five years, a variety of complex abdominal surgical interventions have been developed and are now performed according to the minimally invasive surgery principle. In this article, a surgical procedure for a laparoscopic cholecystectomy (gallbladder removal) is presented that involves a robotic assistant. The robot manipulates the laparoscope and provides the video image as it moves into the abdominal cavity. The robot acts as a cameraman and replaces the surgical assistant. The concept of a robotic assistant is presented and the various modifications made to the robot are described. A motion control strategy permits easy teleoperation of the robot. Surgical interventions have been successfully performed, first on animals and then on 8 patients.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>