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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1270-1276
Number of pages7
DOIs
Publication statusPublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
Duration: 2012 Oct 72012 Oct 12

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

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

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  • Cite this

    Noguchi, T., Kobayashi, Y., Kawamura, K., Watanabe, H., Tomono, Y., Sekiguchi, Y., Seno, H., Toyoda, K., Hashizume, M., & Fujie, M. G. (2012). Application of control modes of a master manipulator for a robotic system to assist with single port endoscopic surgery. In IEEE International Conference on Intelligent Robots and Systems (pp. 1270-1276). [6385581] https://doi.org/10.1109/IROS.2012.6385581