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Development on a magnetic anchoring robot system based on visual servo control for laparoendoscopic single‐site surgery
Author(s) -
Feng Haibo,
Lu Yu,
Chen Dong,
Ma Tengfei,
Fu Yili
Publication year - 2018
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1904
Subject(s) - anchoring , robot , computer science , surgical robot , servo control , robot end effector , servo , control system , servomechanism , computer vision , simulation , artificial intelligence , control engineering , engineering , electrical engineering , structural engineering
Background Surgical robot systems have been used in laparoendoscopic single‐site surgery (LESS) to improve patient outcomes. A magnetic anchoring surgical robot system for LESS can effectively extend the operation space. Methods A robot system based on visual servo control for LESS is proposed. It includes a magnetic anchoring robot and a control subsystem, in which an uncalibrated visual servo control method obtains an accurate positioning capability of the robot for LESS. Results The results of the simulation and the tissue experiment show that the robot system can successfully accomplish the expected control functionalities for LESS. The average positioning error of the proposed system is 1.622 mm. Conclusion The magnetic anchoring robot system is able to implement the autonomous positioning of its end‐effector through the proposed control approach according to experimental results.