Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

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

doi:10.1109/BIOROB.2010.5625975

Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

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

^*この研究の対応する著者

理工学術院総合研究所

研究成果: Conference contribution

19 被引用数 (Scopus)

抄録

Recently, a robotics system was developed 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: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].

本文言語	English
ホスト出版物のタイトル	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
ページ	120-125
ページ数	6
DOI	https://doi.org/10.1109/BIOROB.2010.5625975
出版ステータス	Published - 2010
イベント	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo 継続期間: 2010 9月 26 → 2010 9月 29

Other

Other	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
City	Tokyo
Period	10/9/26 → 10/9/29

ASJC Scopus subject areas

人工知能
生体医工学

文献へのアクセス

10.1109/BIOROB.2010.5625975

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引用スタイル

Sekiguchi, Y., Kobayashi, Y., Tomono, Y., Watanabe, H., Toyoda, K., Konishi, K., Tomikawa, M., Ieiri, S., Tanoue, K., Hashizume, M., & Fujie, M. G. (2010). Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 120-125). [5625975] https://doi.org/10.1109/BIOROB.2010.5625975

Sekiguchi, Y, Kobayashi, Y, Tomono, Y, Watanabe, H, Toyoda, K, Konishi, K, Tomikawa, M, Ieiri, S, Tanoue, K, Hashizume, M & Fujie, MG 2010, Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery. in 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5625975, pp. 120-125, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5625975

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title = "Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery",

abstract = "Recently, a robotics system was developed 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: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].",

author = "Yuta Sekiguchi and Yo Kobayashi and Yu Tomono and Hiroki Watanabe and Kazutaka Toyoda and Kozo Konishi and Morimasa Tomikawa and Satoshi Ieiri and Kazuo Tanoue and Makoto Hashizume and Fujie, {Masakatsu G.}",

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AU - Sekiguchi, Yuta

AU - Kobayashi, Yo

AU - Tomono, Yu

AU - Watanabe, Hiroki

AU - Toyoda, Kazutaka

AU - Konishi, Kozo

AU - Tomikawa, Morimasa

AU - Ieiri, Satoshi

AU - Tanoue, Kazuo

AU - Hashizume, Makoto

AU - Fujie, Masakatsu G.

PY - 2010

Y1 - 2010

N2 - Recently, a robotics system was developed 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: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].

AB - Recently, a robotics system was developed 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: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].

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BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Y2 - 26 September 2010 through 29 September 2010

ER -

Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

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ASJC Scopus subject areas

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