Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability

Satoshi Hangai, Takahiro Nozaki, Tomoya Soma, Hidetaka Miyashita, Seiji Asoda, Masaki Yazawa, Kazuki Sato, Hiromasa Kawana, Kouhei Ohnishi, Eiji Kobayashi

Research output: Contribution to journalArticlepeer-review

Abstract

Background: Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. Methods: To meet the demands, we developed a novel assist robot utilizing high-precision sensorless haptic technology. The robot adopts a cable-driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. Results: The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. Conclusions: The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.

Original languageEnglish
Article numbere2205
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume17
Issue number2
DOIs
Publication statusPublished - 2021 Apr

Keywords

  • force control
  • haptics
  • lymphatic vessels
  • microsurgery
  • nerves
  • orthopaedic surgery
  • plastic surgery
  • robotics
  • surgery assistance
  • suture
  • traction
  • vessels

ASJC Scopus subject areas

  • Surgery
  • Biophysics
  • Computer Science Applications

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