A surgical robot with vision field control for single port endoscopic surgery
| Autor: | Kazutaka Toyoda, Makoto Hashizume, Yu Tomono, Kazuo Tanoue, Morimasa Tomikawa, Yuta Sekiguchi, Hiroki Watanabe, Kozo Konishi, Masakatsu G. Fujie, Yo Kobayashi, Satoshi Ieiri |
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| Rok vydání: | 2010 |
| Předmět: |
Computer science
Control (management) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Biophysics Endoscopic surgery Master/slave Port (circuit theory) Degrees of freedom (mechanics) Field (computer science) Computer Science Applications Robot Surgery Surgical robot Simulation ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | The International Journal of Medical Robotics and Computer Assisted Surgery. 6:454-464 |
| ISSN: | 1478-5951 |
| DOI: | 10.1002/rcs.355 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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