TY - JOUR
T1 - Navigation system for a developed endoscopic surgical robot system
AU - Hattori, Asaki
AU - Suzuki, Naoki
AU - Hayashibe, Mitsuhiro
AU - Suzuki, Shigeyuki
AU - Otake, Yoshito
AU - Sumiyama, Kazuki
AU - Tajiri, Hisao
AU - Kobayashi, Susumu
PY - 2004/6/1
Y1 - 2004/6/1
N2 - In this paper, we describe a navigation system for an endoscopic surgical robot system. We have been developing an endoscopic robot system that performs surgery on the gastric tubes. The system has two manipulators on both sides of the endoscope's tip. Using these manipulators, surgeons are able to perform surgical procedures like open surgery. We applied a data fusion system to the endoscopic robot system for an image-guided surgery. The data fusion system uses two devices; a magnetic 3D location sensor and a Graphic workstation. The magnetic location sensor is attached to the endoscope's tip and measures the 3D position and direction of the tip. The graphic workstation (GWS) transforms a coordinate system of a 3D patient's organ model by using the sensor's data, and superimposes the organ model onto the captured image of the endoscope in real time. We used this system during an endoscopic mucosal resection (EMR) of a pig. At this experiment, the surgeon was able to observe the inner structure of the animal's organ.
AB - In this paper, we describe a navigation system for an endoscopic surgical robot system. We have been developing an endoscopic robot system that performs surgery on the gastric tubes. The system has two manipulators on both sides of the endoscope's tip. Using these manipulators, surgeons are able to perform surgical procedures like open surgery. We applied a data fusion system to the endoscopic robot system for an image-guided surgery. The data fusion system uses two devices; a magnetic 3D location sensor and a Graphic workstation. The magnetic location sensor is attached to the endoscope's tip and measures the 3D position and direction of the tip. The graphic workstation (GWS) transforms a coordinate system of a 3D patient's organ model by using the sensor's data, and superimposes the organ model onto the captured image of the endoscope in real time. We used this system during an endoscopic mucosal resection (EMR) of a pig. At this experiment, the surgeon was able to observe the inner structure of the animal's organ.
KW - Data fusion
KW - Endoscopic robot
KW - Image-guided surgery
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U2 - 10.1016/j.ics.2004.03.150
DO - 10.1016/j.ics.2004.03.150
M3 - Article
AN - SCOPUS:33748967646
SN - 0531-5131
VL - 1268
SP - 539
EP - 544
JO - International Congress Series
JF - International Congress Series
IS - C
ER -