Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.
Annu Int Conf IEEE Eng Med Biol Soc
; 2010: 979-83, 2010.
Article
em En
| MEDLINE
| ID: mdl-21096985
ABSTRACT
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.
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Base de dados:
MEDLINE
Assunto principal:
Robótica
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Interface Usuário-Computador
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Inteligência Artificial
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Interpretação de Imagem Assistida por Computador
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Endoscópios
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Cirurgia Assistida por Computador
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Sistemas Homem-Máquina
Idioma:
En
Ano de publicação:
2010
Tipo de documento:
Article