Satoshi Hangai1, Takahiro Nozaki1,2, Tomoya Soma3, Hidetaka Miyashita3, Seiji Asoda3, Masaki Yazawa4, Kazuki Sato5, Hiromasa Kawana3,6, Kouhei Ohnishi7, Eiji Kobayashi8. 1. Department of System Design Engineering, Keio University, Minato, Tokyo, Japan. 2. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA. 3. Department of Dentistry and Oral Surgery, Keio University, Minato, Tokyo, Japan. 4. Department of Plastic and Reconstructive Surgery, Keio University, Minato, Tokyo, Japan. 5. Institute for Integrated Sports Medicine, Keio University School of Medicine, Shinjuku-ku, Tokyo, Japan. 6. Department of Oral and Maxillofacial Implantology, Kanagawa Dental University, Yokosuka, Kanagawa, Japan. 7. Haptics Research Center, Keio University, Yokohama, Japan. 8. Department of Organ Fabrication, Keio University School of Medicine, Shinjuku-ku, Tokyo, Japan.
Abstract
BACKGROUND: Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. METHODS: To meet the demands, we developed a novel assist robot utilizing high-precision sensorless haptic technology. The robot adopts a cable-driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. RESULTS: The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. CONCLUSIONS: The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.
BACKGROUND: Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. METHODS: To meet the demands, we developed a novel assist robot utilizing high-precision sensorless haptic technology. The robot adopts a cable-driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. RESULTS: The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. CONCLUSIONS: The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.
Authors: Tom J M van Mulken; Clint A E M Boymans; Rutger M Schols; Raimondo Cau; Ferry B F Schoenmakers; Lisette T Hoekstra; Shan S Qiu; Jesse C Selber; René R W J van der Hulst Journal: Plast Reconstr Surg Date: 2018-11 Impact factor: 4.730
Authors: Tom J M van Mulken; Rutger M Schols; Shan S Qiu; Kaj Brouwers; Lisette T Hoekstra; Darren I Booi; Raimondo Cau; Ferry Schoenmakers; Andrea M J Scharmga; Rene R W J van der Hulst Journal: J Surg Oncol Date: 2018-08-16 Impact factor: 3.454
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Authors: Tom J M van Mulken; Rutger M Schols; Andrea M J Scharmga; Bjorn Winkens; Raimondo Cau; Ferry B F Schoenmakers; Shan S Qiu; René R W J van der Hulst Journal: Nat Commun Date: 2020-02-11 Impact factor: 14.919