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Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability
Author(s) -
Hangai Satoshi,
Nozaki Takahiro,
Soma Tomoya,
Miyashita Hidetaka,
Asoda Seiji,
Yazawa Masaki,
Sato Kazuki,
Kawana Hiromasa,
Ohnishi Kouhei,
Kobayashi Eiji
Publication year - 2021
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.2205
Subject(s) - robot , thread (computing) , computer science , microsurgery , simulation , traction (geology) , haptic technology , artificial intelligence , mechanical engineering , surgery , engineering , medicine , operating system
Abstract Background Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. Methods To meet the demands, we developed a novel assist robot utilizing high‐precision sensorless haptic technology. The robot adopts a cable‐driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. Results The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. Conclusions The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.