TY - GEN
T1 - Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery
AU - Noguchi, Takehiko
AU - Kobayashi, Yo
AU - Kawamura, Kazuya
AU - Watanabe, Hiroki
AU - Tomono, Yu
AU - Sekiguchi, Yuta
AU - Seno, Hiroto
AU - Toyoda, Kazutaka
AU - Hashizume, Makoto
AU - Fujie, Masakatsu G.
PY - 2012/12/1
Y1 - 2012/12/1
N2 - Recently, increased attention has been focused on single port endoscopic surgery (SPS). We have developed a robotic system for SPS with two surgical manipulators: an endoscopic manipulator and a positioning manipulator that moves the endoscope. The robot can manipulate both the position and orientation of the endoscope to achieve the desirable endoscopic field of view. Two methods can be used to operate the endoscopic view: 'control corresponding to position' mode and 'control corresponding to velocity' mode. Although both are widely used for moving the visual field, the operability of each method has not been examined quantitatively. Thus, we compare the operability of the two methods for adjusting the endoscopic view, and present the results and suitable applications of each method. The results of the quantitative evaluation experiments show that the 'control corresponding to position' mode is suitable for short-distance or precise adjustment of the endoscope, whereas the 'control corresponding to velocity' mode is better suited to long-distance movement.
AB - Recently, increased attention has been focused on single port endoscopic surgery (SPS). We have developed a robotic system for SPS with two surgical manipulators: an endoscopic manipulator and a positioning manipulator that moves the endoscope. The robot can manipulate both the position and orientation of the endoscope to achieve the desirable endoscopic field of view. Two methods can be used to operate the endoscopic view: 'control corresponding to position' mode and 'control corresponding to velocity' mode. Although both are widely used for moving the visual field, the operability of each method has not been examined quantitatively. Thus, we compare the operability of the two methods for adjusting the endoscopic view, and present the results and suitable applications of each method. The results of the quantitative evaluation experiments show that the 'control corresponding to position' mode is suitable for short-distance or precise adjustment of the endoscope, whereas the 'control corresponding to velocity' mode is better suited to long-distance movement.
UR - http://www.scopus.com/inward/record.url?scp=84872313332&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872313332&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385581
DO - 10.1109/IROS.2012.6385581
M3 - Conference contribution
AN - SCOPUS:84872313332
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1270
EP - 1276
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -