抄録
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.
