The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2010
Session ID : 2A1-B21
Conference information
2A1-B21 Development of a Manipulator for Endoscope Vision Control to Assist Single Port Surgery
Yu TOMONO, Yo KOBAYASHI, Yuta SEKIGUCHI, Hiroki WATANABE, Kazutaka TOYODA, Kozo KONISHI, Morimasa TOMIKAWA, Satoshi IEIRI, Kazuo TANOUE, Makoto HASHIZUME, Masakatsu G. FUJIE
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Keywords: Medical robotics, Minimally invasive surgery, Endoscopic therapy, Single port surgery
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Abstract
Recently, a robotics system was developed to assist 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 positioning (3D0Fs) and sheath (3DOFs) manipulator for vision control, and dual tool tissue manipulators can be attached at the tip of sheath manipulator. In the experiment, we evaluate the availability of the prototype and vision control.
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© 2010 The Japan Society of Mechanical Engineers
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