Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie

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

16 Citations (Scopus)

Abstract

Recently, a robotics system was developed to assist in Single Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].

Original languageEnglish
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages120-125
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo
Duration: 2010 Sep 262010 Sep 29

Other

Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CityTokyo
Period10/9/2610/9/29

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

Cite this

Sekiguchi, Y., Kobayashi, Y., Tomono, Y., Watanabe, H., Toyoda, K., Konishi, K., Tomikawa, M., Ieiri, S., Tanoue, K., Hashizume, M., & Fujie, M. G. (2010). Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 120-125). [5625975] https://doi.org/10.1109/BIOROB.2010.5625975