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 |
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Article number | e2205 |
Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
Volume | 17 |
Issue number | 2 |
DOIs | |
Publication status | Published - 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