title: Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single-site surgery (LESS).
abstract: BACKGROUND
  Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems.
  
  
  METHODS
  In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments.
  
  
  RESULTS
  The in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS.
  
  
  CONCLUSIONS
  The experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application.
authors.affiliation: Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
authors.forename: Haibo
authors.initials: H
authors.lastname: Feng
authors.affiliation: Department of Hepatobiliary Surgery, First Affiliated Hospital; Xi'an Jiaotong University, P. R. China.
authors.forename: Dinghui
authors.initials: D
authors.lastname: Dong
authors.affiliation: Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
authors.forename: Tengfei
authors.initials: T
authors.lastname: Ma
authors.affiliation: Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
authors.forename: Jinlei
authors.initials: J
authors.lastname: Zhuang
authors.affiliation: Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
authors.forename: Yili
authors.initials: Y
authors.lastname: Fu
authors.affiliation: Department of Hepatobiliary Surgery, First Affiliated Hospital; Xi'an Jiaotong University, P. R. China.
authors.forename: Yi
authors.initials: Y
authors.lastname: Lv
authors.affiliation: Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
authors.forename: Liyi
authors.initials: L
authors.lastname: Li
mesh_terms: D011211:Electric Power Supplies; D004867:Equipment Design; D020342:Finite Element Analysis; D006801:Humans; D010535:Laparoscopy / Q000379:methods; D007909:Lenses; D060526:Magnetic Fields; D008280:Magnetics; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures / Q000379:methods*; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000379:methods
keywords: finite element method; in vivo visual robot system; laparoendoscopic single-site surgery; master-slave control