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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

8 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
ページ979-983
ページ数5
DOI
出版ステータス出版済み - 12 1 2010
イベント2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, アルゼンチン
継続期間: 8 31 20109 4 2010

出版物シリーズ

名前2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

その他

その他2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
国/地域アルゼンチン
CityBuenos Aires
Period8/31/109/4/10

All Science Journal Classification (ASJC) codes

  • 生体医工学
  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 健康情報学

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