Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery | Zendy

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

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Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery

Author(s) -

Yuta Sekiguchi,

Yo Kobayashi,

Yu Tomono,

Hiroki Watanabe,

Kazutaka Toyoda,

Kozo Konishi,

Morimasa Tomikawa,

Satoshi Ieiri,

Kazuo Tanoue,

Makoto Hashizume,

Masakatsu G. Fujie

Publication year - 2011

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2011.p1115

Subject(s) - manipulator (device) , mobile manipulator , computer science , surgical robot , mechanism (biology) , parallel manipulator , robot manipulator , port (circuit theory) , control engineering , robot , task (project management) , controller (irrigation) , control theory (sociology) , simulation , control (management) , artificial intelligence , engineering , mechanical engineering , mobile robot , physics , systems engineering , agronomy , quantum mechanics , biology

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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