부산대학교 도서관

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.ics.2005.03.346 Byline: Kitaro Yoshimitsu (a), Takashi Tanaka (b), Kentarou Ohnuma (a), Fujio Miyawaki (a), Daijo Hashimoto (c), Ken Masamune (a) Keywords: Scrub nurse robot (SNR); Laparoscopic surgery; Medical robot; Surgical scenario Abstract: In these days, the problem of the shortage of scrub nurse in operation rooms is becoming serious. While the recent developments of surgical mechatronics and instruments are becoming a big help as a solution to reduce the mental, physical and time-related burden of patients, nurses also have the same burden which is not solved yet. In this paper, we are proposing scrub nurse robot (SNR) which involves the scenario of the laparoscopic surgery. We developed the 1st prototype of two scrub nurse robots that pass and receive surgical instruments. SNRs choose and pass the appropriate instrument, and prepare other instruments for the next action. The motion measurements of surgeon and scrub nurse are recorded in the laparoscopic surgery, and from the result of analysis, it is recognized that the electrode knife and the long-handled blood aspirator are used frequently in laparoscopic surgery. Therefore, the necessity of two kinds of SNRs (R-1 and R-2) arose as the design strategy. R-1 is for handling an electrode knife and a long-handled blood aspirator, and R-2 is for other forceps and the laparoscope. The basic evaluations are performed and we confirmed that they were able to pass the instruments faster than human scrub nurse: the average time of the task was 1.33 s. Author Affiliation: (a) Graduate School Tokyo Denki University, Japan (b) Yasuhisa-Koki Biomechanics Co., Japan (c) Saitama Medical School, Japan