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Background
Robotic surgery improves minimally invasive interventions. However, it is challenging to determine the best gain settings for control of the endoscope. Providing the surgeon with the ability to manipulate the endoscope at an appropriate speed will likely improve the surgery by reducing the surgeon's stress. In this study, we validated the feasibility of a gain‐tuning method in which the...
BackgroundCurrent robotic systems have limitations for single‐port surgery (SPS) because the instruments are large, the arms collide and the field of vision requires manual readjustment. We have developed an SPS robotic system that manipulates the vision field.
MethodsThe master–slave system included a six degrees of freedom (DOFs) tool manipulator, an easy set‐up mechanism, a flexible shaft drive...
BackgroundCentral venous catheterization is a procedure in which a doctor inserts a catheter into a patient's vein for transfusions. Risks of this procedure include bleeding from the puncture of blood vessels and pneumothorax caused by pleural puncture. To avoid these and other risks, physicians are required to ensure that the needle is inserted securely and that it stops within the vein.
MethodsWe...
BackgroundRobotic end‐effectors for single port endoscopic surgery (SPS) require a manual change of vision field that slows surgery and increases the degrees of freedom (DOFs) of the manipulator.
MethodsA new surgical prototype robot has dynamic vision field control and a master controller to manipulate the endoscopic view. It uses positioning (4 DOF) and sheath (2 DOF) manipulators for vision field...
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