Scorpion shaped endoscopic surgical robot for NOTES and SPS with augmented reality functions

Naoki Suzuki*, Asaki Hattori, Kazuo Tanoue, Satoshi Ieiri, Kozo Konishi, Morimasa Tomikawa, Hajime Kenmotsu, Makoto Hashizume

*この研究の対応する著者

研究成果: Conference contribution

25 被引用数 (Scopus)

抄録

In the process of developing an endoscopic surgical robot system that adapts to NOTES (Natural Orifice Translumenal Endoscopic Surgery) and SPS (Single port surgery), by making the tip a soft tubular structure and adding an augmented reality function to the system, we were able to improve the general function of the surgical robot system. First, we added a haptic sense function to avoid breaking the soft tissue and to avoid the danger of cutting it. These occur due to the small size of the touching surface between the tip of the robot arm and the soft tissue. We were able to conduct operation by feeding back to the surgeon the force applied to the soft tissue by detecting the haptic sense of the small forceps at the tip through measuring the tension variation at the base of the wire that drives the robot arm. We also mounted various numbers of augmented reality function such as grasping the exact location of the surgical robot inside the human body and information on how the robot is reaching the location of surgery. As a result, we were able to build a system that can conduct safe surgery with the system's two main characteristics - the smallness and the high degree of freedom to move.

本文言語English
ホスト出版物のタイトルMedical Imaging and Augmented Reality - 5th International Workshop, MIAR 2010, Proceedings
ページ541-550
ページ数10
DOI
出版ステータスPublished - 2010
外部発表はい
イベント5th International Workshop on Medical Imaging and Augmented Reality, MIAR 2010 - Beijing, China
継続期間: 2010 9月 192010 9月 20

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
6326 LNCS
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Conference

Conference5th International Workshop on Medical Imaging and Augmented Reality, MIAR 2010
国/地域China
CityBeijing
Period10/9/1910/9/20

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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