Classification, Design and Evaluation of Endoscope Robots

Taniguchi, Koichi; Nishikawa, Atsushi; Sekimoto, Mitsugu; Kobayashi, Takeharu; Kazuhara, Kouhei; Ichihara, Takaharu; Kurashita, Naoto; Takiguchi, Shuji; Doki, Yuichiro; Mori, Masaki; Miyazaki, Fumio

doi:10.5772/6893

Cited by 16 publications

(12 citation statements)

References 22 publications

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“…However, industrial robots and surgical robots differ from each other in their priorities. Taniguchi et al [12] state that an industrial robot's primary characteristics are "high power" and "high speed" while a surgical robot's are "safety" and "cleanness".…”

Section: Introductionmentioning

confidence: 99%

“…Post-operative processes also result in faster recovery and smaller surgical scars [9] . Taniguchi et al [12] state that 27 endoscope robots have been developed between 1994 and 2009 and 8 of them have been used on humans while others have been used on animals or stayed as a model. In most of these systems, the endoscope is positioned with a robotic arm and the surgeon controls this robotic arm with different tools or ways such as using a controller, giving voice commands, making head movements or using an image processing system tracking the surgical tools in the surgeon's hand.…”

Section: Introductionmentioning

confidence: 99%

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Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

Yaşır

Kiper

Dede

2020

Mechanism and Machine Theory

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In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

Yaşır

Kiper

Dede

2020

Mechanism and Machine Theory

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“…In another review presented in [21] an analysis on FDA approved robots devoted to endonasal surgery was conducted to expose the advantages and disadvantages of these systems. Taniguchi et al [22] reported 27 different endoscopic surgical robots developed in between the years 1994-2009. Eight of them were used on humans, others were either experimented on animals or presented as a model.…”

Section: Background On Robotic Endoscopic Surgerymentioning

confidence: 99%

Unilateral Teleoperation Design for a Robotic Endoscopic Pituitary Surgery System

Dede

Maaroof

Ateş

et al. 2017

New Trends in Medical and Service Robots

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The aim of this study is to develop a teleoperation system which will be used to support the endoscopic pituitary surgery procedures. The proposed system aims to enable the surgeon to operate with three different operation tools (one of them is the endoscope) simultaneously. By this way, it is expected that the productivity of the surgical operation will be improved and the duration of the operation will be shortened. In the proposed system, a main control unit that can be attached to any of the surgical tools that are used in the operation (other than the endoscope) will be developed to capture the motion of the surgeon's hand motion as demanded by the surgeon, to process the captured motion and to send it to the robot that handles the endoscope. In this way, the endoscope will be directed simultaneously by the surgeon throughout the operation while he/she is using the other surgical tools with his/her two hands. In this paper, the study to determine the type and processing of information that is sent from the surgeon's side to the endoscope robot is presented.

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“…Such robotic systems have fine manipulation capabilities including scalable, steady, tremor-free motion, and enhanced dexterity. By 2009, at least 27 kinds of robotic laparoscopes have been commercialized or published in referred articles [4] and this number has been growing rapidly in recent years. These robotic systems include AESOP made in the U.S. by Computer Motion, Inc. [5], EndoAssist made in the UK by Armstrong Healthcare Ltd. [6] which is now known as Freehand system from Prosurgics, Inc. [7], LapMan made in Belgium by Medsys s.a. [8], and Naviot made in Japan by Hitachi Co., Ltd. [9].…”

Section: Robotic Laparoscope Systemsmentioning

confidence: 99%

Attention-Aware Robotic Laparoscope Based on Fuzzy Interpretation of Eye-Gaze Patterns

Zhang

Kim

et al. 2015

Journal of Medical Devices

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Laparoscopic robots have been widely adopted in modern medical practice. However, explicitly interacting with these robots may increase the physical and cognitive load on the surgeon. An attention-aware robotic laparoscope system has been developed to free the surgeon from the technical limitations of visualization through the laparoscope. This system can implicitly recognize the surgeon's visual attention by interpreting the surgeon's natural eye movements using fuzzy logic and then automatically steer the laparoscope to focus on that viewing target. Experimental results show that this system can make the surgeon–robot interaction more effective, intuitive, and has the potential to make the execution of the surgery smoother and faster.

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Classification, Design and Evaluation of Endoscope Robots

Cited by 16 publications

References 22 publications

Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

Unilateral Teleoperation Design for a Robotic Endoscopic Pituitary Surgery System

Attention-Aware Robotic Laparoscope Based on Fuzzy Interpretation of Eye-Gaze Patterns

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