Single Port Endoscopic Surgery Research Articles

Single-port endoscopic surgery in newborns and infants

Single-port endoscopic surgery in newborns and infants

2A1-K06 単孔式内視鏡下手術鉗子のボールスクリュー差動駆動機構(手術支援ロボティクス・メカトロニクス(1))

2A1-K06 単孔式内視鏡下手術鉗子のボールスクリュー差動駆動機構(手術支援ロボティクス・メカトロニクス(1))

Development of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery

Development of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery

2A2-S10 術具による術野遮蔽領域に対する画像補完手法の開発(手術支援ロボティクス・メカトロニクス(1))

Recently, small incision pediatric surgeries have been widely performed due to their minimally invasiveness. However, they make it difficult for surgeons to manipulate surgical tools. Robotic assist is required to reduce the workload for surgeons. Single port endoscopic surgery (SPS) assist robot we have developed is important option for it. It enables surgeons to perform precise operation using its tool manipulators. However, the operative field of a child is so tight that manipulators are limited for range of movement and hide working area from their view. We proposed the compensation method that complements the view by superimposing the image taken with added endoscope on forceps region of view. This paper presents a basic evaluation for validity of proposal method. In the experiment, delay time and resultant error of complemented image satisfied requirement specifications. In addition, we heard views of a pediatric surgeon on it.

Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery

Recently, a robotic 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 a 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: five DOFs; cautery: three DOFs) can be attached at the tip of the 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 is 1.0 Hz.

2P1-C10 単孔式手術支援ロボットのマスタマニピュレータにおける内視鏡操作及び術具操作の統合方法に関する検討(医療ロボティクス・メカトロニクス)

Recently, robotic systems assisting single port endoscopic surgery (SPS) was developed. Our laboratory also developed a SPS assisting robot. It enables surgeons to manipulate position and posture of the endoscope. Joystick and foot switches are used to manipulate endoscope, however, this system is not suitable for manipulating endoscope and operability of endoscope is bad. It's because manipulating posture is rare in robotic surgery and not discussed the way of manipulating posture. This paper presents a basic evaluation of operability about manipulating position and posture of endoscope. In the experiment, we evaluate operability of position and posture independently.

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

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. 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). 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. The novel robotic system is feasible, but further studies are needed to address its performance in vivo.

2A1-B23 視野を操作する機能を有する単孔式手術支援ロボットの開発

2A1-B23 視野を操作する機能を有する単孔式手術支援ロボットの開発

2A1-B22 単孔式手術を支援するロボットのためのフレキシブルシャフト駆動を用いた術具マニピュレータの開発

2A1-B22 単孔式手術を支援するロボットのためのフレキシブルシャフト駆動を用いた術具マニピュレータの開発