TY - GEN
T1 - Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery
AU - Sekiguchi, Yuta
AU - Kobayashi, Yo
AU - Tomono, Yu
AU - Watanabe, Hiroki
AU - Toyoda, Kazutaka
AU - Konishi, Kozo
AU - Tomikawa, Morimasa
AU - Ieiri, Satoshi
AU - Tanoue, Kazuo
AU - Hashizume, Makoto
AU - Fujie, Masakatsu G.
PY - 2010
Y1 - 2010
N2 - Recently, a robotics system was developed to assist in Single Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].
AB - Recently, a robotics system was developed to assist in Single Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF) can be attached at the tip of sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 [mm] and a time delay of less than 31 [ms], when the input frequency was 1.0[Hz].
UR - http://www.scopus.com/inward/record.url?scp=78650438215&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650438215&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2010.5625975
DO - 10.1109/BIOROB.2010.5625975
M3 - Conference contribution
AN - SCOPUS:78650438215
SN - 9781424477081
T3 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
SP - 120
EP - 125
BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Y2 - 26 September 2010 through 29 September 2010
ER -