A new locally operated unilateral master-slave manipulator for endoscopic surgery performed by a surgeon in a sterilized area was developed. The manipulator system consists of a portable master device and a forceps slave manipulator LODEM as the third arm. We propose the 3DOFs portable operating device with gimbals for the pitch and yaw axes, and a linear guide roller for the insertion axis though into the commercial forceps. The dimensions of the mechanical component are 90 mm × 180 mm × 120 mm, and its mass is 470 g. The operating ranges for these axes are ±60 °, ±60 °, and 200 mm, respectively. The mechanical backlash for these axes are 1.7 °, 1.4 °, and 5.2 mm, respectively. The mobile LODEM is unilateral master-slave point to point controlled by the master device. The master-slave manipulator was confirmed for these axes.
A new locally operated master-slave selectable control system with multiple connection for robot assisted laparoscopic surgery performed by a surgeon in a sterilized area was developed. The system can produce switchable connection for each of master operating interfaces and each of slave assistant robots as the third arm. We propose the system selected to one of two master devices and one of three slave devices, through each providers and middleware ORiN-based medical robot architecture (MRLink), regulated by a robot integrator (RI) application. Providers with device information such as the number of axes and the kinematics model, and with device control commands such as sensing or driving of the rotated angle and velocity, are constructed. RI application with unilateral master-slave point-to-point control are simply constructed using the position and the orientation of both of the selected master and slave devices. In addition, we newly developed a 3 DOFs master device through into an intraoperative surgical instrument.
