Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery

Takehiko Noguchi; Yo Kobayashi; Kazuya Kawamura; Hiroki Watanabe; Yu Tomono; Yuta Sekiguchi; Hiroto Seno; Kazutaka Toyoda; Makoto Hashizume; Masakatsu G. Fujie

doi:10.1109/IROS.2012.6385581

Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery

Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Hiroki Watanabe, Yu Tomono, Yuta Sekiguchi, Hiroto Seno, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

Advanced Medical Intiatives

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	1270-1276
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2012.6385581
Publication status	Published - Dec 1 2012
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: Oct 7 2012 → Oct 12 2012

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country	Portugal
City	Vilamoura, Algarve
Period	10/7/12 → 10/12/12

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2012.6385581

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Cite this

Noguchi, T., Kobayashi, Y., Kawamura, K., Watanabe, H., Tomono, Y., Sekiguchi, Y., Seno, H., Toyoda, K., Hashizume, M., & Fujie, M. G. (2012). Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 1270-1276). [6385581] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385581

Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery. / Noguchi, Takehiko; Kobayashi, Yo; Kawamura, Kazuya; Watanabe, Hiroki; Tomono, Yu; Sekiguchi, Yuta; Seno, Hiroto; Toyoda, Kazutaka; Hashizume, Makoto; Fujie, Masakatsu G.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 1270-1276 6385581 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Noguchi, T, Kobayashi, Y, Kawamura, K, Watanabe, H, Tomono, Y, Sekiguchi, Y, Seno, H, Toyoda, K, Hashizume, M & Fujie, MG 2012, Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6385581, IEEE International Conference on Intelligent Robots and Systems, pp. 1270-1276, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6385581

Noguchi T, Kobayashi Y, Kawamura K, Watanabe H, Tomono Y, Sekiguchi Y et al. Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 1270-1276. 6385581. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385581

Noguchi, Takehiko ; Kobayashi, Yo ; Kawamura, Kazuya ; Watanabe, Hiroki ; Tomono, Yu ; Sekiguchi, Yuta ; Seno, Hiroto ; Toyoda, Kazutaka ; Hashizume, Makoto ; Fujie, Masakatsu G. / Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. pp. 1270-1276 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "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.",

author = "Takehiko Noguchi and Yo Kobayashi and Kazuya Kawamura and Hiroki Watanabe and Yu Tomono and Yuta Sekiguchi and Hiroto Seno and Kazutaka Toyoda and Makoto Hashizume and Fujie, {Masakatsu G.}",

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AU - Noguchi, Takehiko

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AU - Watanabe, Hiroki

AU - Tomono, Yu

AU - Sekiguchi, Yuta

AU - Seno, Hiroto

AU - Toyoda, Kazutaka

AU - Hashizume, Makoto

AU - Fujie, Masakatsu G.

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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.

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