Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery

Yo Kobayashi, Yuta Sekiguchi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.

Original languageEnglish
Title of host publication2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages979-983
Number of pages5
DOIs
Publication statusPublished - Dec 1 2010
Event2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, Argentina
Duration: Aug 31 2010Sep 4 2010

Publication series

Name2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

Other

Other2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
CountryArgentina
CityBuenos Aires
Period8/31/109/4/10

Fingerprint

Surgery
Manipulators
Robots
Tissue
Endoscopy
Cautery
Endoscopes
Robotics
Macros
Robotic surgery
Controllers

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Health Informatics

Cite this

Kobayashi, Y., Sekiguchi, Y., Tomono, Y., Watanabe, H., Toyoda, K., Konishi, K., ... Fujie, M. G. (2010). Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 (pp. 979-983). [5627615] (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10). https://doi.org/10.1109/IEMBS.2010.5627615

Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. / Kobayashi, Yo; Sekiguchi, Yuta; Tomono, Yu; Watanabe, Hiroki; Toyoda, Kazutaka; Konishi, Kozo; Tomikawa, Morimasa; Ieiri, Satoshi; Tanoue, Kazuo; Hashizume, Makoto; Fujie, Masaktsu G.

2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. p. 979-983 5627615 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kobayashi, Y, Sekiguchi, Y, Tomono, Y, Watanabe, H, Toyoda, K, Konishi, K, Tomikawa, M, Ieiri, S, Tanoue, K, Hashizume, M & Fujie, MG 2010, Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. in 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10., 5627615, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, pp. 979-983, 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, Buenos Aires, Argentina, 8/31/10. https://doi.org/10.1109/IEMBS.2010.5627615
Kobayashi Y, Sekiguchi Y, Tomono Y, Watanabe H, Toyoda K, Konishi K et al. Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. p. 979-983. 5627615. (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10). https://doi.org/10.1109/IEMBS.2010.5627615
Kobayashi, Yo ; Sekiguchi, Yuta ; Tomono, Yu ; Watanabe, Hiroki ; Toyoda, Kazutaka ; Konishi, Kozo ; Tomikawa, Morimasa ; Ieiri, Satoshi ; Tanoue, Kazuo ; Hashizume, Makoto ; Fujie, Masaktsu G. / Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. 2010. pp. 979-983 (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10).
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