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Scorpion Shaped Endoscopic Surgical Robot for NOTES and SPS With Augmented Reality Functions

  • Naoki Suzuki
  • Asaki Hattori
  • Kazuo Tanoue
  • Satoshi Ieiri
  • Kozo Konishi
  • Morimasa Tomikawa
  • Hajime Kenmotsu
  • Makoto Hashizume
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6326)

Abstract

In the process of developing an endoscopic surgical robot system that adapts to NOTES (Natural Orifice Translumenal Endoscopic Surgery) and SPS (Single port surgery), by making the tip a soft tubular structure and adding an augmented reality function to the system, we were able to improve the general function of the surgical robot system. First, we added a haptic sense function to avoid breaking the soft tissue and to avoid the danger of cutting it. These occur due to the small size of the touching surface between the tip of the robot arm and the soft tissue. We were able to conduct operation by feeding back to the surgeon the force applied to the soft tissue by detecting the haptic sense of the small forceps at the tip through measuring the tension variation at the base of the wire that drives the robot arm. We also mounted various numbers of augmented reality function such as grasping the exact location of the surgical robot inside the human body and information on how the robot is reaching the location of surgery. As a result, we were able to build a system that can conduct safe surgery with the system’s two main characteristics - the smallness and the high degree of freedom to move.

Keywords

Augmented Reality Natural Orifice Translumenal Endoscopic Surgery Surgical Robot Single Port Surgery Actuator Unit 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Naoki Suzuki
    • 1
  • Asaki Hattori
    • 1
  • Kazuo Tanoue
    • 2
  • Satoshi Ieiri
    • 2
  • Kozo Konishi
    • 3
  • Morimasa Tomikawa
    • 2
  • Hajime Kenmotsu
    • 2
  • Makoto Hashizume
    • 2
    • 3
  1. 1.Institute for High Dimensional Medical ImagingThe Jikei University School of MedicineTokyoJapan
  2. 2.Dept of Advanced Medicine and Innovative TechnologyKyushu University HospitalFukuokaJapan
  3. 3.Dept of Future Medicine and Innovative Medical Information, Graduate School of Medical SciencesKyushu UniversityFukuokaJapan

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