Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

Yo Kobayashi; Yuta Sekiguchi; Takehiko Noguchi; Yu Takahashi; Quanquan Liu; Susumu Oguri; Kazutaka Toyoda; Munenori Uemura; Satoshi Ieiri; Morimasa Tomikawa; Takeshi Ohdaira; Makoto Hashizume; Masaktsu G. Fujie

doi:10.1002/rcs.1600

Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

Yo Kobayashi, Yuta Sekiguchi, Takehiko Noguchi, Yu Takahashi, Quanquan Liu, Susumu Oguri, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume, Masaktsu G. Fujie

Research output: Contribution to journal › Article › peer-review

46 Citations (Scopus)

Abstract

Background: Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field. Methods: The master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo. Results: In vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics. Conclusions: Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely

Original language	English
Pages (from-to)	235-246
Number of pages	12
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
Volume	11
Issue number	2
DOIs	https://doi.org/10.1002/rcs.1600
Publication status	Published - Jun 1 2015

All Science Journal Classification (ASJC) codes

Surgery
Biophysics
Computer Science Applications

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Kobayashi, Y., Sekiguchi, Y., Noguchi, T., Takahashi, Y., Liu, Q., Oguri, S., Toyoda, K., Uemura, M., Ieiri, S., Tomikawa, M., Ohdaira, T., Hashizume, M., & Fujie, M. G. (2015). Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery. International Journal of Medical Robotics and Computer Assisted Surgery, 11(2), 235-246. https://doi.org/10.1002/rcs.1600

Kobayashi, Y, Sekiguchi, Y, Noguchi, T, Takahashi, Y, Liu, Q, Oguri, S, Toyoda, K, Uemura, M, Ieiri, S, Tomikawa, M, Ohdaira, T, Hashizume, M & Fujie, MG 2015, 'Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery', International Journal of Medical Robotics and Computer Assisted Surgery, vol. 11, no. 2, pp. 235-246. https://doi.org/10.1002/rcs.1600

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abstract = "Background: Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field. Methods: The master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo. Results: In vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics. Conclusions: Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely",

author = "Yo Kobayashi and Yuta Sekiguchi and Takehiko Noguchi and Yu Takahashi and Quanquan Liu and Susumu Oguri and Kazutaka Toyoda and Munenori Uemura and Satoshi Ieiri and Morimasa Tomikawa and Takeshi Ohdaira and Makoto Hashizume and Fujie, {Masaktsu G.}",

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AU - Sekiguchi, Yuta

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AU - Takahashi, Yu

AU - Liu, Quanquan

AU - Oguri, Susumu

AU - Toyoda, Kazutaka

AU - Uemura, Munenori

AU - Ieiri, Satoshi

AU - Tomikawa, Morimasa

AU - Ohdaira, Takeshi

AU - Hashizume, Makoto

AU - Fujie, Masaktsu G.

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AB - Background: Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field. Methods: The master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo. Results: In vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics. Conclusions: Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely

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Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

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