title: Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.
abstract: Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.
authors.affiliation: The faculty of science and engineering, Waseda University, Japan. you-k@fuji.waseda.jp
authors.forename: Yo
authors.initials: Y
authors.lastname: Kobayashi
authors.forename: Yuta
authors.initials: Y
authors.lastname: Sekiguchi
authors.forename: Yu
authors.initials: Y
authors.lastname: Tomono
authors.forename: Hiroki
authors.initials: H
authors.lastname: Watanabe
authors.forename: Kazutaka
authors.initials: K
authors.lastname: Toyoda
authors.forename: Kozo
authors.initials: K
authors.lastname: Konishi
authors.forename: Morimasa
authors.initials: M
authors.lastname: Tomikawa
authors.forename: Satoshi
authors.initials: S
authors.lastname: Ieiri
authors.forename: Kazuo
authors.initials: K
authors.lastname: Tanoue
authors.forename: Makoto
authors.initials: M
authors.lastname: Hashizume
authors.forename: Masaktsu G
authors.initials: MG
authors.lastname: Fujie
mesh_terms: D001185:Artificial Intelligence; D019723:Endoscopes; D004867:Equipment Design; D019544:Equipment Failure Analysis; D007090:Image Interpretation, Computer-Assisted / Q000295:instrumentation*; D008328:Man-Machine Systems; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D014584:User-Computer Interface