In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

Yuta Sekiguchi; Yo Kobayashi; Hiroki Watanabe; Yu Tomono; Takehiko Noguchi; Yu Takahashi; Kazutaka Toyoda; Munenori Uemura; Satoshi Ieiri; Takeshi Ohdaira; Morimasa Tomikawa; Makoto Hashizume; Masakatsu G. Fujie

doi:10.1109/IEMBS.2011.6091781

In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

Yuta Sekiguchi, Yo Kobayashi^*, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, 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

Abstract

Recently, robotics systems are focused 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.

Original language	English
Title of host publication	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages	7045-7048
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2011.6091781
Publication status	Published - 2011
Event	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA Duration: 2011 Aug 30 → 2011 Sept 3

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
City	Boston, MA
Period	11/8/30 → 11/9/3

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

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10.1109/IEMBS.2011.6091781

Cite this

Sekiguchi, Y., Kobayashi, Y., Watanabe, H., Tomono, Y., Noguchi, T., Takahashi, Y., Toyoda, K., Uemura, M., Ieiri, S., Ohdaira, T., Tomikawa, M., Hashizume, M., & Fujie, M. G. (2011). In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 7045-7048). Article 6091781 https://doi.org/10.1109/IEMBS.2011.6091781

In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery. / Sekiguchi, Yuta; Kobayashi, Yo; Watanabe, Hiroki et al.
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2011. p. 7045-7048 6091781.

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

Sekiguchi, Y, Kobayashi, Y, Watanabe, H, Tomono, Y, Noguchi, T, Takahashi, Y, Toyoda, K, Uemura, M, Ieiri, S, Ohdaira, T, Tomikawa, M, Hashizume, M & Fujie, MG 2011, In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6091781, pp. 7045-7048, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, 11/8/30. https://doi.org/10.1109/IEMBS.2011.6091781

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abstract = "Recently, robotics systems are focused 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.",

author = "Yuta Sekiguchi and Yo Kobayashi and Hiroki Watanabe and Yu Tomono and Takehiko Noguchi and Yu Takahashi and Kazutaka Toyoda and Munenori Uemura and Satoshi Ieiri and Takeshi Ohdaira and Morimasa Tomikawa and Makoto Hashizume and Fujie, {Masakatsu G.}",

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AU - Takahashi, Yu

AU - Toyoda, Kazutaka

AU - Uemura, Munenori

AU - Ieiri, Satoshi

AU - Ohdaira, Takeshi

AU - Tomikawa, Morimasa

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AB - Recently, robotics systems are focused 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: 5DOFs, cautery: 3DOFs) can be attached at the tip of sheath manipulator. In particular, this paper focuses on an in vivo experiment. We showed that vision control in the stomach and a cautery task by a cautery tool could be effectively achieved.

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In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery

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