2A1-B22 Development of Tool Manipulator Driven by Flexible Shaft for Single Port Endoscopic Surgery

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 manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF)) can be attached at the tip of sheath manipulator. This paper presents the details of mechanism and control method of tool manipulator. The experimental result shows that our manipulator has the response with time delay of less than 4.5 mill-second in the range from 0.1Hz to 1Hz.