Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

被引：40

作者：

Kobayashi, Yo ^{[1
]}

Sekiguchi, Yuta ^{[1
]}

Noguchi, Takehiko ^{[1
]}

Takahashi, Yu ^{[1
]}

Liu, Quanquan ^{[1
]}

Oguri, Susumu ^{[1
]}

Toyoda, Kazutaka ^{[2
]}

Uemura, Munenori ^{[2
]}

Ieiri, Satoshi ^{[2
]}

Tomikawa, Morimasa ^{[2
]}

Ohdaira, Takeshi ^{[2
]}

Hashizume, Makoto ^{[2
]}

Fujie, Masaktsu G. ^{[1
]}

机构：

[1] Waseda Univ, Res Inst Sci & Engn, Fac Sci & Engn, Tokyo 1698555, Japan

[2] Kyushu Univ Hosp, Dept Adv Med & Innovat Technol, Fukuoka, Japan

来源：

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY | 2015年 / 11卷 / 02期

关键词：

surgical robot; surgical manipulator; master-slave; endoscopic; single-port surgery;

D O I：

10.1002/rcs.1600

中图分类号：

R61 [外科手术学];

学科分类号：

摘要：

BackgroundCurrent robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field. MethodsThe master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo. ResultsIn vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics. ConclusionsOur robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely. Copyright (c) 2014 John Wiley & Sons, Ltd.

引用

页码：235 / 246

页数：12

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