In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

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

doi:10.1109/IEMBS.2011.6091781

In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

Yuta Sekiguchi, Yo Kobayashi^*, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, 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

抄録

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.

本文言語	English
ホスト出版物のタイトル	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ページ	7045-7048
ページ数	4
DOI	https://doi.org/10.1109/IEMBS.2011.6091781
出版ステータス	Published - 2011
イベント	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA 継続期間: 2011 8月 30 → 2011 9月 3

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
City	Boston, MA
Period	11/8/30 → 11/9/3

ASJC Scopus subject areas

コンピュータビジョンおよびパターン認識
信号処理
生体医工学
健康情報学

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10.1109/IEMBS.2011.6091781

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引用スタイル

Sekiguchi, Y., Kobayashi, Y., Watanabe, H., Tomono, Y., Noguchi, T., Takahashi, Y., Toyoda, K., Uemura, M., Ieiri, S., Ohdaira, T., Tomikawa, M., Hashizume, M., & Fujie, M. G. (2011). In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 7045-7048). [6091781] https://doi.org/10.1109/IEMBS.2011.6091781

Sekiguchi, Y, Kobayashi, Y, Watanabe, H, Tomono, Y, Noguchi, T, Takahashi, Y, Toyoda, K, Uemura, M, Ieiri, S, Ohdaira, T, Tomikawa, M, Hashizume, M & Fujie, MG 2011, In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6091781, pp. 7045-7048, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, 11/8/30. https://doi.org/10.1109/IEMBS.2011.6091781

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title = "In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery",

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.",

author = "Yuta Sekiguchi and Yo Kobayashi and Hiroki Watanabe and Yu Tomono and Takehiko Noguchi and Yu Takahashi and Kazutaka Toyoda and Munenori Uemura and Satoshi Ieiri and Takeshi Ohdaira and Morimasa Tomikawa and Makoto Hashizume and Fujie, {Masakatsu G.}",

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doi = "10.1109/IEMBS.2011.6091781",

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AU - Tomono, Yu

AU - Noguchi, Takehiko

AU - Takahashi, Yu

AU - Toyoda, Kazutaka

AU - Uemura, Munenori

AU - Ieiri, Satoshi

AU - Ohdaira, Takeshi

AU - Tomikawa, Morimasa

AU - Hashizume, Makoto

AU - Fujie, Masakatsu G.

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AB - 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.

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BT - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS

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In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

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