Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery

Quanquan Liu; Yo Kobayashi; Bo Zhang; Jing Ye; Elgezua Inko; Yang Cao; Yuta Sekiguchi; Qixin Cao; Makoto Hashizume; Masakatsu G. Fujie

doi:10.1109/ROBIO.2013.6739551

Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery

Quanquan Liu, Yo Kobayashi, Bo Zhang, Jing Ye, Elgezua Inko, Yang Cao, Yuta Sekiguchi, Qixin Cao, Makoto Hashizume, Masakatsu G. Fujie

Advanced Medical Intiatives

Research output: Contribution to conference › Paper › peer-review

5 Citations (Scopus)

Abstract

Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic vision control. It resolves the complex conversion on operation between vision and manipulators, and improves the operability. The ISR consists of an insertable central stem, a flexible sheath, two dexterous manipulators, and a quadrilateral link driven endoscope. The dexterous manipulators and endoscopic mechanism are located on the distal side of the flexible sheath, achieving two bendable DOFs and one translational DOF by following the motions of flexible sheath. The configuration of the ISR makes it could be inserted through a $25 m m port, and execute management of flexible sheath, dual manipulators and quadrilateral link with visual information. The flexible sheath and quadrilateral link are used for controlling the endoscopic view, the control strategy of endoscopic view is presented, and the experimental result shows the control method is competent.

Original language	English
Pages	750-755
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739551
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: Dec 12 2013 → Dec 14 2013

Other

Other	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 12/14/13

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Science Applications
Biotechnology

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10.1109/ROBIO.2013.6739551

Cite this

Liu, Q., Kobayashi, Y., Zhang, B., Ye, J., Inko, E., Cao, Y., Sekiguchi, Y., Cao, Q., Hashizume, M., & Fujie, M. G. (2013). Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery. 750-755. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. https://doi.org/10.1109/ROBIO.2013.6739551

Liu, Q, Kobayashi, Y, Zhang, B, Ye, J, Inko, E, Cao, Y, Sekiguchi, Y, Cao, Q, Hashizume, M & Fujie, MG 2013, 'Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery', Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, 12/12/13 - 12/14/13 pp. 750-755. https://doi.org/10.1109/ROBIO.2013.6739551

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abstract = "Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic vision control. It resolves the complex conversion on operation between vision and manipulators, and improves the operability. The ISR consists of an insertable central stem, a flexible sheath, two dexterous manipulators, and a quadrilateral link driven endoscope. The dexterous manipulators and endoscopic mechanism are located on the distal side of the flexible sheath, achieving two bendable DOFs and one translational DOF by following the motions of flexible sheath. The configuration of the ISR makes it could be inserted through a $25 m m port, and execute management of flexible sheath, dual manipulators and quadrilateral link with visual information. The flexible sheath and quadrilateral link are used for controlling the endoscopic view, the control strategy of endoscopic view is presented, and the experimental result shows the control method is competent.",

author = "Quanquan Liu and Yo Kobayashi and Bo Zhang and Jing Ye and Elgezua Inko and Yang Cao and Yuta Sekiguchi and Qixin Cao and Makoto Hashizume and Fujie, {Masakatsu G.}",

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doi = "10.1109/ROBIO.2013.6739551",

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AU - Cao, Yang

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AU - Fujie, Masakatsu G.

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N2 - Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic vision control. It resolves the complex conversion on operation between vision and manipulators, and improves the operability. The ISR consists of an insertable central stem, a flexible sheath, two dexterous manipulators, and a quadrilateral link driven endoscope. The dexterous manipulators and endoscopic mechanism are located on the distal side of the flexible sheath, achieving two bendable DOFs and one translational DOF by following the motions of flexible sheath. The configuration of the ISR makes it could be inserted through a $25 m m port, and execute management of flexible sheath, dual manipulators and quadrilateral link with visual information. The flexible sheath and quadrilateral link are used for controlling the endoscopic view, the control strategy of endoscopic view is presented, and the experimental result shows the control method is competent.

AB - Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic vision control. It resolves the complex conversion on operation between vision and manipulators, and improves the operability. The ISR consists of an insertable central stem, a flexible sheath, two dexterous manipulators, and a quadrilateral link driven endoscope. The dexterous manipulators and endoscopic mechanism are located on the distal side of the flexible sheath, achieving two bendable DOFs and one translational DOF by following the motions of flexible sheath. The configuration of the ISR makes it could be inserted through a $25 m m port, and execute management of flexible sheath, dual manipulators and quadrilateral link with visual information. The flexible sheath and quadrilateral link are used for controlling the endoscopic view, the control strategy of endoscopic view is presented, and the experimental result shows the control method is competent.

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Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery

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