Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.
|ホスト出版物のタイトル||2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10|
|出版ステータス||Published - 2010|
|イベント||2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires|
継続期間: 2010 8月 31 → 2010 9月 4
|Other||2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10|
|Period||10/8/31 → 10/9/4|
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