Journal
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
Volume 11, Issue 2, Pages 235-246Publisher
WILEY
DOI: 10.1002/rcs.1600
Keywords
surgical robot; surgical manipulator; master-slave; endoscopic; single-port surgery
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Funding
- Global Centres of Excellence (COE) Programme 'Global Robot Academia', from the Ministry of Education, Culture, Sports, Science and Technology (MEXT), Japan
- Grant for Scientific Research, Japan [21240056]
- High-Tech Research Centre Project from MEXT
- Mizuho Foundation for the Promotion of Sciences
- Grants-in-Aid for Scientific Research [21240056, 25282157, 26670765, 25293360, 26870428] Funding Source: KAKEN
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BackgroundCurrent robotic systems have limitations for single-port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field. MethodsThe master-slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set-up mechanism, a flexible shaft drive with sufficient DOFs and a vertical arrangement for improved vision. The robot manipulates an endoscope within the body. After assembly, the system was tested in vitro and in vivo. ResultsIn vitro testing showed that the tool manipulators resected tissue precisely, with the range of motion required. In vivo testing indicated that an abdominal organ is accurately approached and diseased tissue removed by combined endoscopy and robotics. ConclusionsOur robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely. Copyright (c) 2014 John Wiley & Sons, Ltd.
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