Development of a smart surgical robot with bended forceps for infant congenital esophageal atresia surgery

Quanquan Liu*, Yo Kobayashi, Bo Zhang, Takehiko Noguchi, Yu Takahashi, Yuya Nishio, Yang Cao, Satoshi Ieiri, Kazutaka Toyoda, Munenori Uemura, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

Minimally invasive surgery (MIS) is commonly used in pediatric operations. This method greatly benefits patients because of the reduced surgical trauma. To perform such surgery smoothly, doctors must be highly skilled. To reduce operating difficulties, a great deal of research on surgical systems have been carried out. However, in some cases, smaller workspaces limit the application of MIS. For example, the workspace of infant congenital esophageal atresia (ICEA) surgery is only around 30×30×30 mm. Until now, most ICEA surgeries have been manually performed with traditional instruments. This paper presents a smart surgical robot (SSR) for ICEA surgery. The robot is composed of two slave arms, each consisting of a positioning manipulator and a surgical tool manipulator. The positioning manipulator uses a selective compliance assembly robot arm (SCARA) and a screw-pair mechanism to achieve translational movement in 3D space, and the surgical tool manipulator uses a 'double screw drive + universal joint' structure to allow an omni directional bending motion. During surgery, the surgeon first creates the workspace manually to explore the target esophagus. The SSR system is then applied to perform operation. The configuration of the SSR means it can perform tissue manipulation under endoscopic view in a small workspace. Experimental results show that the endoscopic view permits the SSR system to be operated intuitively and accurately in the target workspace.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2430-2435
ページ数6
ISBN(電子版)9781479936854, 9781479936854
DOI
出版ステータスPublished - 2014 9月 22
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
継続期間: 2014 5月 312014 6月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
国/地域China
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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