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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages979-983
Number of pages5
DOIs
Publication statusPublished - 2010
Event2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires
Duration: 2010 Aug 312010 Sep 4

Other

Other2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
CityBuenos Aires
Period10/8/3110/9/4

ASJC Scopus subject areas

  • Biomedical Engineering

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