| Literature DB >> 22255961 |
Yuta Sekiguchi1, Yo Kobayashi, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G Fujie.
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.Entities:
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Year: 2011 PMID： 22255961 DOI： 10.1109/IEMBS.2011.6091781
Source DB: PubMed Journal: Conf Proc IEEE Eng Med Biol Soc ISSN： 1557-170X