2A1-B23 A Surgical Robot with Vision Control for Single Port Endoscopic Surgery

摘要

We proposed a surgical robot for SPS with dynamic vision control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning (3DOF) and sheath (3DOF) manipulator for vision control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro experiment. The "cut and vision control" is suitable for precise cutting tasks in risky areas while a "cut by vision control" is effective for rapid macro cutting of tissues. A restriction task was accomplished using a combination of both methods.