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Olympus has used the research results obtained from the five-year comprehensive research and development project for cancer ultra-early diagnosis and treatment equipment in 2007 to produce a small surgery-assisted robot system (Fig. 1). This is a master-slave robotic system in which the surgeon operates the active input device while watching the three-dimensional display, and controls the small robot that is driven to perform the operation.
The robot system was developed for use in endoscopic surgery. Conventional endoscopic surgery involves first opening a few holes in the patient's body surface, then inserting an endoscope as a surgeon's "eye" and a special device as a "hand" into the body, and then the surgeon looks at the endoscope. Special surgery equipment for surgery. The advantage is that the trauma is small, the burden on the patient is small, and it is beneficial to recover as soon as possible, but since the special equipment for operation requires high technology, the practical application is still very small.
Using the robot system developed this time, the surgeon does not directly operate the special instrument inserted into the body, but indirectly operates the special instrument through the active input device (the small robot with the special surgical instrument on the top). Therefore, the surgeon's hand shake is not transmitted to the surgical instrument. Moreover, in the traditional endoscopic surgery in which the doctor directly operates the instrument, the mirror image is seen on the endoscope picture, that is, the action of the seen device is opposite to the actual one, and the robot system can be used. Avoid this mirroring action.
In addition, there are only three degrees of freedom (rotation and 2-axis bending, Figure 2) at the top of the surgical instrument. The entire robot has 7 degrees of freedom, and the same level of freedom as the shoulder, elbow, and wrist of the person is also the same. A major feature of the system. In this way, obstacles such as ribs can be avoided, and surgical instruments can be sent to the affected area such as the back of the heart. In addition, Olympus has developed a "ignoring multi-joint control technology" that allows the surgeon to focus only on the top of the surgical instrument and is equipped with the robot system.
According to Kobayashi’s Director of Medical Technology Development, Olympus, the Olympus development is compared to the “da Vinci Surgical System†(American Intuition Surgery Company), which is also used for endoscopic surgery. The system not only has a high degree of freedom in surgical instruments, but also reduces the size of the driven robots on the operating table by a quarter. By reducing the structure of the drive part and the size of the motor, the system reduces the size of the robot, so that up to 5 robots can be placed in the space of 1 m square on the operating table (one for the endoscope, and the rest for For surgical instruments), but Olympus did not disclose some of the details.
In addition, Professor Ogano, a professor at the Graduate School of Medicine at the University of Tokyo, evaluated the robotic system from a medical perspective: "If you want a surgeon to like it, you need to improve it further. If you can do it, you may surpass da Vinci." Olympus will first develop the robotic system for a specific operation using the necessary technology developed in this system. Olympus said that it will be developed in two to three years, and then the service system will be established, and it will be put into practical use after 5 to 6 years. The target price is below 100 million yen, only a fraction of da Vinci.