A surgical robot with vision field control for single port endoscopic surgery

Yo Kobayashi*, Yu Tomono, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

36 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)454-464
Number of pages11
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Issue number4
Publication statusPublished - 2010 Dec


  • endoscopic
  • master-slave
  • robot
  • single port surgery

ASJC Scopus subject areas

  • Computer Science Applications
  • Biophysics
  • Surgery


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