Kobayashi Yo, Sekiguchi Yuta, Tomono Yu, Watanabe Hiroki, Toyoda Kazutaka, Konishi Kozo, Tomikawa Morimasa, Ieiri Satoshi, Tanoue Kazuo, Hashizume Makoto, Fujie Masaktsu G
The faculty of science and engineering, Waseda University, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:979-83. doi: 10.1109/IEMBS.2010.5627615.
Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.
最近，开发了一种机器人系统来辅助单孔腹腔镜手术（SPS）。然而，现有系统需要手动改变视野，这阻碍了手术任务，并增加了机械手的自由度（DOF）。我们提出了一种用于SPS的具有动态视野控制的手术机器人，内窥镜视图由主控制器操纵。原型机器人包括用于视野控制的定位和鞘管机械手（6自由度）以及双工具组织机械手（抓握：5自由度，烧灼：3自由度）。该机器人的可行性在体外得到了验证。“切割和视野控制”（使用工具机械手）适用于危险区域的精确切割任务，而“通过视野控制进行切割”（使用视野控制机械手）对于组织的快速宏观切割有效。使用这两种方法的组合完成了切除任务。
