Development of a functional model for a master-slave combined manipulator for laparoscopic surgery

Nobuto Matsuhira, Makoto Jinno, Toyomi Miyagawa, Takamitsu Sunaoshi, Takehiro Hato, Yasuhide Morikawa, Toshiharu Furukawa, Soji Ozawa, Masaki Kitajima, Kazuo Nakazawa

Research output: Contribution to journalArticlepeer-review

32 Citations (Scopus)


Minimally invasive surgery helps patients by accelerating postoperative recovery. However, its application is impeded because it is necessary for the surgeons performing such surgery to possess surgical skills of a high order. Therefore, a master-slave combined manipulator (MCM) has been proposed as a robotic tool that enhances the surgeon's skill in laparoscopic surgery. The master grip and the slave hand are combined through the manipulator body, and a surgeon can operate the tool near the patient. The slave hand is controlled electrically by the master grip and its position is directly controlled by the surgeon. A prototype model of the MCM has been developed. The functions of the MCM have been verified by basic evaluation tests and the MCM has been used in a preliminary animal experiment. This paper describes the concept, the basic performance and the validation of the MCM.

Original languageEnglish
Pages (from-to)523-539
Number of pages17
JournalAdvanced Robotics
Issue number6
Publication statusPublished - 2003


  • Animal experiment
  • Laparoscopic surgery
  • Master-slave manipulator
  • Operability
  • Surgical manipulator

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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