Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

Kobayashi, Yo; Sasaki, Yuta; Noguchi, Takehiko; Takahashi, Yu; Liu, Quanquan; Oguri, Susumu; Toyoda, Kazutaka; Uemura, Munenori; Ieiri, Satoshi; Tomikawa, Morimasa; Ohdaira, Takeshi; Hashizume, Makoto; Fujie, Masakatus G.

doi:10.1002/rcs.1600

Cited by 49 publications

(28 citation statements)

References 29 publications

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“…Each arm usually possesses four to eight DoFs so that enough workspace and distal dexterity could be generated. Actuation schemes of the arm joints include cables (7,(16)(17)(18)(23)(24)(25), embedded servo motors (10,11,(26)(27)(28)(29), flexible shafts (12,14), linkages (15), and continuum mechanisms (19)(20)(21)(22)30). The characteristics could be summarized as follows.…”

Section: Discussionmentioning

confidence: 99%

“…A flexible endoscope, a ;6 mm 3-DoF manipulation arm for cautery, and a ;8 mm 5-DoF manipulation arm for gripping are integrated. A double-screw-drive mechanism (13), which consists of parallel screws and universal joints, (14). The diameter of the sheath was reduced to 25 mm and both manipulation arms possess six DoFs and a diameter of 8 mm (Figure 2c).…”

Section: Robotic Systems For Splmentioning

confidence: 99%

See 1 more Smart Citation

Surgical robots for SPL and NOTES: A review

Zhao

Feng

Zheng

et al. 2015

Minimally Invasive Therapy & Allied Technologies

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Regarding the structure aspect, the reviewed systems for SPL and NOTES all deploy a vision unit and at least two manipulation arms for surgical interventions through an access channel. To date, the smallest diameter of such a channel is 12 mm. Regarding the functionality aspect, only a few systems demonstrated results promising enough for animal or clinical studies in the near future. Surgical robots using dual continuum mechanisms achieved both design compactness and functional versatility. The characteristics suggest that the use of continuum mechanisms is worth exploring through future developments of surgical robots.

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Section: Discussionmentioning

confidence: 99%

Section: Robotic Systems For Splmentioning

confidence: 99%

Surgical robots for SPL and NOTES: A review

Zhao

Feng

Zheng

et al. 2015

Minimally Invasive Therapy & Allied Technologies

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show abstract

“…The success of laparoscopic and endoscopic surgical robots had stimulated worldwide atentions in surgical robot research, for instance, the laparoscopic telesurgical RAVEN robot [104,105], the Magellan endovascular robot [106], snake-like surgical robots [107,108], MRI-compatible surgical robots [109,110], single-incision laparoscopic robots [111][112][113][114][115][116], and endoscopic robots [117][118][119][120][121].…”

Section: Global Atention and Trends In Surgical Robotsmentioning

confidence: 99%

“…The third observation is the technology used in the new systems. All of the cited systems used cable transmission to remotely drive the robotic end-efector except one design that utilized a screw-drive [117]. To create the cable-pulling motion, various techniques were employed; the majority used electric motor [103, 106-109, 113-115, 119-121], while others used shape-memory alloy [116,118], pneumatics [109], piezoelectric actuator [110], and magnetics [117].…”

Section: Global Atention and Trends In Surgical Robotsmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

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The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

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“…Content may change prior to final publication. master-slave single-port surgical robot that has a 25mm flexible shaft, two 8mm 6-DoF instruments, and a camera that can be manipulated to adjust the field of view [8]. In previous work, the authors reported a multitasking robotic platform for single-port access surgery in [9].…”

Section: Introductionmentioning

confidence: 99%

A Single-Port Robotic System for Transanal Microsurgery—Design and Validation

Shang

Leibrandt

Γιαταγάνας

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-This paper introduces a single-port robotic platform for Transanal Endoscopic Micro-Surgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or fullthickness dissection. This system is intended to replace the conventional TEMS approach that uses manual laparoscopic instruments. The new system is based on master-slave robotically controlled tele-manipulation. The slave robot comprises a support arm that is mounted on the operating table, supporting a surgical port and a robotic platform that drives the surgical instruments. The master console includes a pair of haptic devices, as well as a 3D display showing the live video stream of a stereo endoscope inserted through the surgical port. The surgical instrumentation consists of energy delivery devices, graspers and needle drivers allowing a full TEMS procedure to be performed. Results from benchtop tests, ex-vivo animal tissue evaluation and in-vivo studies demonstrate the clinical advantage of the proposed system.

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Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

Abstract: Our robotics allowed the operator to adjust the vision field intuitively. The tool manipulator approached and resected diseased tissue precisely.

Cited by 49 publications

References 29 publications

Surgical robots for SPL and NOTES: A review

Surgical robots for SPL and NOTES: A review

The Next-Generation Surgical Robots

A Single-Port Robotic System for Transanal Microsurgery—Design and Validation

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