Development of a tool manipulator driven by a flexible shaft for Single Port Endoscopic Surgery

@article{Sekiguchi2010DevelopmentOA,
  title={Development of a tool manipulator driven by a flexible shaft for Single Port Endoscopic Surgery},
  author={Yuta Sekiguchi and Yo Kobayashi and Yu Tomono and Hiroki Watanabe and Kazutaka Toyoda and Kozo Konishi and Morimasa Tomikawa and Satoshi Ieiri and Kazuo Tanoue and Makoto Hashizume and Masakatsu G. Fujie},
  journal={2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics},
  year={2010},
  pages={120-125}
}
Recently, a robotics system was developed to assist in 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… CONTINUE READING