In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie

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

Abstract

Recently, robotics systems are focused 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.

Original languageEnglish
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages7045-7048
Number of pages4
DOIs
Publication statusPublished - 2011
Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
Duration: 2011 Aug 302011 Sep 3

Other

Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CityBoston, MA
Period11/8/3011/9/3

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ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

Cite this

Sekiguchi, Y., Kobayashi, Y., Watanabe, H., Tomono, Y., Noguchi, T., Takahashi, Y., Toyoda, K., Uemura, M., Ieiri, S., Ohdaira, T., Tomikawa, M., Hashizume, M., & Fujie, M. G. (2011). In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 7045-7048). [6091781] https://doi.org/10.1109/IEMBS.2011.6091781