Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery
| Autor: | Kazuo Tanoue, Makoto Hashizume, Satoshi Ieiri, Morimasa Tomikawa, Yuta Sekiguchi, Kozo Konishi, Kazutaka Toyoda, Hiroki Watanabe, Yu Tomono, Yo Kobayashi, Masakatsu G. Fujie |
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| Rok vydání: | 2011 |
| Předmět: |
Scheme (programming language)
General Computer Science Computer science business.industry Endoscopic surgery Port (circuit theory) Master/slave Control engineering Robotics Mechanism (engineering) Task (computing) Robot Artificial intelligence Electrical and Electronic Engineering business computer computer.programming_language |
| Zdroj: | Scopus-Elsevier |
| ISSN: | 1883-8049 0915-3942 |
| DOI: | 10.20965/jrm.2011.p1115 |
| Popis: | Recently, a robotic 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 a 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: five DOFs; cautery: three DOFs) can be attached at the tip of the 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 is 1.0 Hz. |
| Databáze: | OpenAIRE |
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