Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery

Quanquan Liu, Yo Kobayashi, Bo Zhang, Jing Ye, Elgezua Inko, Yang Cao, Yuta Sekiguchi, Qixin Cao, Makoto Hashizume, Masakatsu G. Fujie

研究成果: Contribution to conferencePaper

4 被引用数 (Scopus)

抄録

Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic vision control. It resolves the complex conversion on operation between vision and manipulators, and improves the operability. The ISR consists of an insertable central stem, a flexible sheath, two dexterous manipulators, and a quadrilateral link driven endoscope. The dexterous manipulators and endoscopic mechanism are located on the distal side of the flexible sheath, achieving two bendable DOFs and one translational DOF by following the motions of flexible sheath. The configuration of the ISR makes it could be inserted through a $25 m m port, and execute management of flexible sheath, dual manipulators and quadrilateral link with visual information. The flexible sheath and quadrilateral link are used for controlling the endoscopic view, the control strategy of endoscopic view is presented, and the experimental result shows the control method is competent.

本文言語英語
ページ750-755
ページ数6
DOI
出版ステータス出版済み - 2013
イベント2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, 中国
継続期間: 12 12 201312 14 2013

その他

その他2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country中国
CityShenzhen
Period12/12/1312/14/13

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

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