Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

Yo Kobayashi, Yuta Sekiguchi, Takehiko Noguchi, Yu Takahashi, Quanquan Liu, Susumu Oguri, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume, Masaktsu G. Fujie

Research output: Contribution to journalArticle

24 Citations (Scopus)

Abstract

Background: Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field. Methods: The master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo. Results: In vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics. Conclusions: Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely.

Original languageEnglish
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
DOIs
Publication statusAccepted/In press - 2014

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Keywords

  • Endoscopic
  • Single-port surgery
  • Surgical manipulator, master-slave
  • Surgical robot

ASJC Scopus subject areas

  • Surgery
  • Biophysics
  • Computer Science Applications

Cite this

Kobayashi, Y., Sekiguchi, Y., Noguchi, T., Takahashi, Y., Liu, Q., Oguri, S., Toyoda, K., Uemura, M., Ieiri, S., Tomikawa, M., Ohdaira, T., Hashizume, M., & Fujie, M. G. (Accepted/In press). Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery. International Journal of Medical Robotics and Computer Assisted Surgery. https://doi.org/10.1002/rcs.1600