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

*Corresponding author for this work

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

ASJC Scopus subject areas

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

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