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

doi:10.1109/IEMBS.2010.5627615

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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

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
Title of host publication	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages	979-983
Number of pages	5
DOIs	https://doi.org/10.1109/IEMBS.2010.5627615
Publication status	Published - 2010
Event	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires Duration: 2010 Aug 31 → 2010 Sept 4

Other

Other	2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
City	Buenos Aires
Period	10/8/31 → 10/9/4

ASJC Scopus subject areas

Biomedical Engineering

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10.1109/IEMBS.2010.5627615

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Kobayashi, Y., Sekiguchi, Y., Tomono, Y., Watanabe, H., Toyoda, K., Konishi, K., Tomikawa, M., Ieiri, S., Tanoue, K., Hashizume, M., & Fujie, M. G. (2010). Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 (pp. 979-983). [5627615] https://doi.org/10.1109/IEMBS.2010.5627615

Kobayashi, Y, Sekiguchi, Y, Tomono, Y, Watanabe, H, Toyoda, K, Konishi, K, Tomikawa, M, Ieiri, S, Tanoue, K, Hashizume, M & Fujie, MG 2010, Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery. in 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10., 5627615, pp. 979-983, 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, Buenos Aires, 10/8/31. https://doi.org/10.1109/IEMBS.2010.5627615

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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.",

author = "Yo Kobayashi and Yuta Sekiguchi and Yu Tomono and Hiroki Watanabe and Kazutaka Toyoda and Kozo Konishi and Morimasa Tomikawa and Satoshi Ieiri and Kazuo Tanoue and Makoto Hashizume and Fujie, {Masaktsu G.}",

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AU - Kobayashi, Yo

AU - Sekiguchi, Yuta

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AU - Konishi, Kozo

AU - Tomikawa, Morimasa

AU - Ieiri, Satoshi

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AU - Hashizume, Makoto

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AB - 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.

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ER -

Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery

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