title: In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery.
abstract: Recently, robotics systems are focused 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 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.
authors.affiliation: Graduate School of Science and Engineering, Waseda University, Japan.
authors.forename: Yuta
authors.initials: Y
authors.lastname: Sekiguchi
authors.forename: Yo
authors.initials: Y
authors.lastname: Kobayashi
authors.forename: Hiroki
authors.initials: H
authors.lastname: Watanabe
authors.forename: Yu
authors.initials: Y
authors.lastname: Tomono
authors.forename: Takehiko
authors.initials: T
authors.lastname: Noguchi
authors.forename: Yu
authors.initials: Y
authors.lastname: Takahashi
authors.forename: Kazutaka
authors.initials: K
authors.lastname: Toyoda
authors.forename: Munenori
authors.initials: M
authors.lastname: Uemura
authors.forename: Satoshi
authors.initials: S
authors.lastname: Ieiri
authors.forename: Takeshi
authors.initials: T
authors.lastname: Ohdaira
authors.forename: Morimasa
authors.initials: M
authors.lastname: Tomikawa
authors.forename: Makoto
authors.initials: M
authors.lastname: Hashizume
authors.forename: Masakatsu G
authors.initials: MG
authors.lastname: Fujie
mesh_terms: D000818:Animals; D004724:Endoscopy / Q000295:instrumentation* / Q000379:methods*; D004867:Equipment Design; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D009038:Motion; D015203:Reproducibility of Results; D012371:Robotics; D013270:Stomach / Q000601:surgery*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013552:Swine; D014785:Vision, Ocular