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

doi:10.1002/rcs.2205

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 journal › Article › peer-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 language	English
Journal	International Journal of Medical Robotics and Computer Assisted Surgery
DOIs	https://doi.org/10.1002/rcs.2205
Publication status	Accepted/In press - 2020

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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10.1002/rcs.2205

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Hangai, S., Nozaki, T., Soma, T., Miyashita, H., Asoda, S., Yazawa, M., Sato, K., Kawana, H., Ohnishi, K., & Kobayashi, E. (Accepted/In press). Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability. International Journal of Medical Robotics and Computer Assisted Surgery. https://doi.org/10.1002/rcs.2205

Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability. / Hangai, Satoshi; Nozaki, Takahiro; Soma, Tomoya; Miyashita, Hidetaka ; Asoda, Seiji ; Yazawa, Masaki ; Sato, Kazuki; Kawana, Hiromasa; Ohnishi, Kouhei; Kobayashi, Eiji.

In: International Journal of Medical Robotics and Computer Assisted Surgery, 2020.

Research output: Contribution to journal › Article › peer-review

Hangai, Satoshi ; Nozaki, Takahiro ; Soma, Tomoya ; Miyashita, Hidetaka ; Asoda, Seiji ; Yazawa, Masaki ; Sato, Kazuki ; Kawana, Hiromasa ; Ohnishi, Kouhei ; Kobayashi, Eiji. / Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability. In: International Journal of Medical Robotics and Computer Assisted Surgery. 2020.

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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.",

keywords = "force control, haptics, lymphatic vessels, microsurgery, nerves, orthopaedic surgery, plastic surgery, robotics, surgery assistance, suture, traction, vessels",

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

note = "Funding Information: Seiji Asoda received the funding from Japan Agency for Medical Research and Development (AMED). The funder had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.",

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doi = "10.1002/rcs.2205",

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AU - Nozaki, Takahiro

AU - Soma, Tomoya

AU - Miyashita, Hidetaka

AU - Asoda, Seiji

AU - Yazawa, Masaki

AU - Sato, Kazuki

AU - Kawana, Hiromasa

AU - Ohnishi, Kouhei

AU - Kobayashi, Eiji

N1 - Funding Information: Seiji Asoda received the funding from Japan Agency for Medical Research and Development (AMED). The funder had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.

PY - 2020

Y1 - 2020

N2 - 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.

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KW - traction

KW - vessels

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