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A surgical robot with vision field control for single port endoscopic surgery
Author(s) -
Kobayashi Yo,
Tomono Yu,
Sekiguchi Yuta,
Watanabe Hiroki,
Toyoda Kazutaka,
Konishi Kozo,
Tomikawa Morimasa,
Ieiri Satoshi,
Tanoue Kazuo,
Hashizume Makoto,
Fujie Masaktsu G.
Publication year - 2010
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.355
Subject(s) - computer science , field (mathematics) , robot , surgical robot , controller (irrigation) , computer vision , port (circuit theory) , manipulator (device) , field of view , artificial intelligence , machine vision , robotic surgery , engineering , mechanical engineering , mathematics , pure mathematics , agronomy , biology
Background Robotic end‐effectors for single port endoscopic surgery (SPS) require a manual change of vision field that slows surgery and increases the degrees of freedom (DOFs) of the manipulator. Methods A new surgical prototype robot has dynamic vision field control and a master controller to manipulate the endoscopic view. It uses positioning (4 DOF) and sheath (2 DOF) manipulators for vision field control, and dual tool tissue manipulators (gripping, 5 DOF; cautery, 3 DOF). Results The robot is feasible in vitro . ‘Cut and vision field control’ (using tool manipulators) was suitable for precise cutting tasks in risky areas; ‘cut by vision field control’ (using the vision field control manipulator) was effective for rapid macro cutting of tissues. A resection was performed using a combination of both methods. Conclusions The novel robotic system is feasible, but further studies are needed to address its performance in vivo . Copyright © 2010 John Wiley & Sons, Ltd.