In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery.

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

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)

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
Pages (from-to)7045-7048
Number of pages4
JournalConference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
Volume2011
Publication statusPublished - 2011
Externally publishedYes

ASJC Scopus subject areas

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

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