A surgical robot with vision field control for single port endoscopic surgery

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

研究成果: Article査読

32 被引用数 (Scopus)

抄録

Background Robotic end-effectors for single port endoscopic surgery (SPS) require a manual change of vision field that slows surgery and increases the degrees of freedom (DOFs) of the manipulator. Methods A new surgical prototype robot has dynamic vision field control and a master controller to manipulate the endoscopic view. It uses positioning (4 DOF) and sheath (2 DOF) manipulators for vision field control, and dual tool tissue manipulators (gripping, 5 DOF; cautery, 3 DOF). Results The robot is feasible in vitro. 'Cut and vision field control' (using tool manipulators) was suitable for precise cutting tasks in risky areas; 'cut by vision field control' (using the vision field control manipulator) was effective for rapid macro cutting of tissues. A resection was performed using a combination of both methods. Conclusions The novel robotic system is feasible, but further studies are needed to address its performance in vivo.

本文言語English
ページ(範囲)454-464
ページ数11
ジャーナルInternational Journal of Medical Robotics and Computer Assisted Surgery
6
4
DOI
出版ステータスPublished - 2010 12

ASJC Scopus subject areas

  • Computer Science Applications
  • Biophysics
  • Surgery

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