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

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

Research output: Contribution to journalArticle

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
Pages (from-to)979-983
Number of pages5
JournalAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
Publication statusPublished - 2010
Externally publishedYes

Fingerprint

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

All Science Journal Classification (ASJC) codes

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

Cite this

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

In: Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 2010, p. 979-983.

Research output: Contribution to journalArticle

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.', Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, pp. 979-983.
Kobayashi, Y. ; Sekiguchi, Yuta ; Tomono, Y. ; 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. In: Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. 2010 ; pp. 979-983.
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