TY - GEN
T1 - In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery
AU - Sekiguchi, Yuta
AU - Kobayashi, Yo
AU - Watanabe, Hiroki
AU - Tomono, Yu
AU - Noguchi, Takehiko
AU - Takahashi, Yu
AU - Toyoda, Kazutaka
AU - Uemura, Munenori
AU - Ieiri, Satoshi
AU - Ohdaira, Takeshi
AU - Tomikawa, Morimasa
AU - Hashizume, Makoto
AU - Fujie, Masakatsu G.
PY - 2011
Y1 - 2011
N2 - Recently, robotics systems are focused 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.
AB - Recently, robotics systems are focused 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.
UR - http://www.scopus.com/inward/record.url?scp=84864604346&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864604346&partnerID=8YFLogxK
U2 - 10.1109/IEMBS.2011.6091781
DO - 10.1109/IEMBS.2011.6091781
M3 - Conference contribution
C2 - 22255961
AN - SCOPUS:84864604346
SN - 9781424441211
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 7045
EP - 7048
BT - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
T2 - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Y2 - 30 August 2011 through 3 September 2011
ER -