In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery.

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

In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery.

Yuta Sekiguchi^*, Y. Kobayashi, Hiroki Watanabe, Y. Tomono, Takehiko Noguchi, Y. Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

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
Pages (from-to)	7045-7048
Number of pages	4
Journal	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
Volume	2011
Publication status	Published - 2011
Externally published	Yes

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

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. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2011, 7045-7048.

In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery. / Sekiguchi, Yuta; Kobayashi, Y.; Watanabe, Hiroki et al.
In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Vol. 2011, 2011, p. 7045-7048.

Research output: Contribution to journal › Article › peer-review

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.', Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, vol. 2011, pp. 7045-7048.

Sekiguchi Y, Kobayashi Y, Watanabe H, Tomono Y, Noguchi T, Takahashi Y et al. In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference. 2011;2011:7045-7048.

Sekiguchi, Yuta ; Kobayashi, Y. ; Watanabe, Hiroki et al. / In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery. In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference. 2011 ; Vol. 2011. pp. 7045-7048.

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In vivo experiments of a surgical robot with vision field control for Single Port Endoscopic Surgery.

Abstract

ASJC Scopus subject areas

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