title: Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery.
abstract: BACKGROUND
  Current robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field.
  
  
  METHODS
  The master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo.
  
  
  RESULTS
  In vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics.
  
  
  CONCLUSIONS
  Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely.
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Yo
authors: Y
authors: Kobayashi
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Yuta
authors: Y
authors: Sekiguchi
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Takehiko
authors: T
authors: Noguchi
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Yu
authors: Y
authors: Takahashi
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Quanquan
authors: Q
authors: Liu
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Susumu
authors: S
authors: Oguri
authors: Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
authors: Kazutaka
authors: K
authors: Toyoda
authors: Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
authors: Munenori
authors: M
authors: Uemura
authors: Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
authors: Satoshi
authors: S
authors: Ieiri
authors: Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
authors: Morimasa
authors: M
authors: Tomikawa
authors: Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
authors: Takeshi
authors: T
authors: Ohdaira
authors: Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan.
authors: Makoto
authors: M
authors: Hashizume
authors: Faculty of Science and Engineering, Research Institute of Science and Engineering, Waseda University, Japan.
authors: Masaktsu G
authors: MG
authors: Fujie
mesh_terms: D000005:Abdomen / Q000601:surgery; D000818:Animals; D017081:Cholecystectomy, Laparoscopic / Q000295:instrumentation; D004867:Equipment Design; D006801:Humans; D066298:In Vitro Techniques; D008953:Models, Anatomic; D009038:Motion; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D012399:Rotation; D013552:Swine; D014785:Vision, Ocular
keywords: endoscopic; single-port surgery; surgical manipulator, master-slave; surgical robot