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.
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.
Authors: G Petroni; M Niccolini; S Caccavaro; C Quaglia; A Menciassi; S Schostek; G Basili; O Goletti; M O Schurr; P Dario Journal: Surg Endosc Date: 2013-01-09 Impact factor: 4.584
Authors: Sotiris Avgousti; Eftychios G Christoforou; Andreas S Panayides; Sotos Voskarides; Cyril Novales; Laurence Nouaille; Constantinos S Pattichis; Pierre Vieyres Journal: Biomed Eng Online Date: 2016-08-12 Impact factor: 2.819