<title>Safe and simple man-machine interface for a laparoscopic manipulator system</title>

Abstract

Laparoscopic surgery is becoming increasingly popular as a form of minimally invasive surgery. A major problem in it is the smooth manipulation of the laparoscope. A surgeon is usually using both hands to manipulate long instruments, and it is difficult for a camera assistant to hold the laparoscope steady while quickly aiming the scope at the point required by the surgeon. A laparoscopic manipulator, which holds and manipulates the laparoscope according to direct commands from the surgeon, could solve these problems. Therefore, we have developed a laparoscopic manipulator system using a five-bar linkage mechanism and an optical zoom. A man-machine interface (MMI) is an important element in the laparoscopic manipulator system and it has special requirements as follows; Because the surgeon commands the manipulator at the same time with operating using his/her both hands, MMI, should be simple and intuitive method of command. The system should be safe as a medical device. Therefore, the aim of this study is to seek for the most suitable MMI for a laparoscopic manipulator system considering the requirements described above, for the safety and usability of the system. To achieve it, we develop several MMI and perform a quantitative experiment and in-vivo experiment.