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 language | English |
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Pages (from-to) | 979-983 |
Number of pages | 5 |
Journal | Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings |
Publication status | Published - 2010 |
Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Signal Processing
- Biomedical Engineering
- Computer Vision and Pattern Recognition
- Health Informatics