Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability

Abstract

Background Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. Methods To meet the demands, we developed a novel assist robot utilizing high‐precision sensorless haptic technology. The robot adopts a cable‐driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. Results The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. Conclusions The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.

Subretinal Therapy: Technological Solutions to Surgical and Immunological Challenges

“…Robotic systems have been in routine use for more than 20 years in other surgical specialties. Advances in microrobotics make it now possible to perform highly delicate and precise surgeries such as the anastomosis of lymphatic vessels ( 62 , 63 ). However, in gene / cell therapy, the inclusion of precision robotics to deliver accurately to a target location has only been explored to a limited extent.…”

Reinforcing the effect of microsurgery practice during robotic suturing skill acquisition

“…Force control is also an important aspect of suturing skill. 17,18 In both robotic surgery and microsurgery, collisions between instruments and extreme needle force must be avoided throughout the operation. 19 Compared to the warning in red on the instruments in dV-T, the distortion of the thin needle was a direct warning for the novices to perform a more cautious and gentle movement during the microscopy exercise.…”

“…Force control is also an important aspect of suturing skill 17,18 . In both robotic surgery and microsurgery, collisions between instruments and extreme needle force must be avoided throughout the operation 19 .…”