Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

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

doi:10.1109/BIOROB.2010.5625975

Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

20 Citations (Scopus)

Abstract

Recently, a robotics 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 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: 5DOF, cautery: 3DOF) can be attached at the tip of 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 was 1.0[Hz].

Original language	English
Title of host publication	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages	120-125
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2010.5625975
Publication status	Published - 2010
Event	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo Duration: 2010 Sept 26 → 2010 Sept 29

Other

Other	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
City	Tokyo
Period	10/9/26 → 10/9/29

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering

Access to Document

10.1109/BIOROB.2010.5625975

Cite this

Sekiguchi, Y., Kobayashi, Y., Tomono, Y., Watanabe, H., Toyoda, K., Konishi, K., Tomikawa, M., Ieiri, S., Tanoue, K., Hashizume, M., & Fujie, M. G. (2010). Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 120-125). Article 5625975 https://doi.org/10.1109/BIOROB.2010.5625975

Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery. / Sekiguchi, Yuta; Kobayashi, Yo; Tomono, Yu et al.
2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 120-125 5625975.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sekiguchi, Y, Kobayashi, Y, Tomono, Y, Watanabe, H, Toyoda, K, Konishi, K, Tomikawa, M, Ieiri, S, Tanoue, K, Hashizume, M & Fujie, MG 2010, Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery. in 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5625975, pp. 120-125, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5625975

@inproceedings{e385555a152041008ca776de757830fe,

title = "Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery",

abstract = "Recently, a robotics 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 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: 5DOF, cautery: 3DOF) can be attached at the tip of 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 was 1.0[Hz].",

author = "Yuta Sekiguchi and Yo Kobayashi and Yu Tomono and Hiroki Watanabe and Kazutaka Toyoda and Kozo Konishi and Morimasa Tomikawa and Satoshi Ieiri and Kazuo Tanoue and Makoto Hashizume and Fujie, {Masakatsu G.}",

year = "2010",

doi = "10.1109/BIOROB.2010.5625975",

language = "English",

isbn = "9781424477081",

pages = "120--125",

booktitle = "2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010",

note = "2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 ; Conference date: 26-09-2010 Through 29-09-2010",

}

TY - GEN

T1 - Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

AU - Sekiguchi, Yuta

AU - Kobayashi, Yo

AU - Tomono, Yu

AU - Watanabe, Hiroki

AU - Toyoda, Kazutaka

AU - Konishi, Kozo

AU - Tomikawa, Morimasa

AU - Ieiri, Satoshi

AU - Tanoue, Kazuo

AU - Hashizume, Makoto

AU - Fujie, Masakatsu G.

PY - 2010

Y1 - 2010

N2 - Recently, a robotics 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 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: 5DOF, cautery: 3DOF) can be attached at the tip of 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 was 1.0[Hz].

AB - Recently, a robotics 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 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: 5DOF, cautery: 3DOF) can be attached at the tip of 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 was 1.0[Hz].

UR - http://www.scopus.com/inward/record.url?scp=78650438215&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78650438215&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2010.5625975

DO - 10.1109/BIOROB.2010.5625975

M3 - Conference contribution

AN - SCOPUS:78650438215

SN - 9781424477081

SP - 120

EP - 125

BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Y2 - 26 September 2010 through 29 September 2010

ER -

Development of a tool manipulator driven by a flexible shaft for single port Endoscopic Surgery

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this