A surgical robot with vision field control for single port endoscopic surgery.
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.
Faculty of Science and Engineering, Waseda University, Tokyo, Japan. you-k@fuji.waseda.jp
Yo
Y
Kobayashi
Yu
Y
Tomono
Yuta
Y
Sekiguchi
Hiroki
H
Watanabe
Kazutaka
K
Toyoda
Kozo
K
Konishi
Morimasa
M
Tomikawa
Satoshi
S
Ieiri
Kazuo
K
Tanoue
Makoto
M
Hashizume
Masaktsu G
MG
Fujie
D000818:Animals; D002645:Chickens; D004724:Endoscopy / Q000379:methods*; D004867:Equipment Design; D006801:Humans; D012371:Robotics / Q000379:methods*; D014794:Visual Fields