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

研究成果: 著書/レポートタイプへの貢献会議での発言

1 引用 (Scopus)

抄録

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.

元の言語英語
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ1270-1276
ページ数7
DOI
出版物ステータス出版済み - 12 1 2012
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, ポルトガル
継続期間: 10 7 201210 12 2012

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

その他

その他25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
ポルトガル
Vilamoura, Algarve
期間10/7/1210/12/12

Fingerprint

Surgery
Manipulators
Endoscopy
Robotics
Robots
Experiments

All Science Journal Classification (ASJC) codes

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

これを引用

Noguchi, T., Kobayashi, Y., Kawamura, K., Watanabe, H., Tomono, Y., Sekiguchi, Y., ... Fujie, M. G. (2012). 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 (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).

研究成果: 著書/レポートタイプへの貢献会議での発言

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. : 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, ポルトガル, 10/7/12. https://doi.org/10.1109/IROS.2012.6385581
Noguchi T, Kobayashi Y, Kawamura K, Watanabe H, Tomono Y, Sekiguchi Y その他. 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. 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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