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