Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery

被引：6

作者：

Sekiguchi, Yuta ^{[1
]}

Kobayashi, Yo ^{[2
]}

Tomono, Yu ^{[1
]}

Watanabe, Hiroki ^{[1
]}

Toyoda, Kazutaka ^{[3
]}

Konishi, Kozo ^{[3
]}

Tomikawa, Morimasa ^{[3
]}

Ieiri, Satoshi ^{[3
]}

Tanoue, Kazuo ^{[3
]}

Hashizume, Makoto ^{[3
]}

Fujie, Masakatsu G. ^{[2
]}

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Shinjuku Ku, 03C201,2-2 Wakamatsu, Tokyo 1628480, Japan

[2] Waseda Univ, Grad Sch Sci & Engn, Shinjuku Ku, Tokyo 1628480, Japan

[3] Kyushu Univ Hosp, Ctr Integrat Adv Med & Innovat Technol, Fukuoka, Fukuoka, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2011年 / 23卷 / 06期

关键词：

surgical robot; master-slave; single-port surgery; single-incision surgery; single-access surgery;

D O I：

10.20965/jrm.2011.p1115

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Recently, a robotic system was developed 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 a 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: five DOFs; cautery: three DOFs) can be attached at the tip of the sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 mm and a time delay of less than 31 ms, when the input frequency is 1.0 Hz.

引用

页码：1115 / 1124

页数：10

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