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

研究成果: Article査読

抄録

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.

本文言語English
論文番号e2205
ジャーナルInternational Journal of Medical Robotics and Computer Assisted Surgery
17
2
DOI
出版ステータスPublished - 2021 4

ASJC Scopus subject areas

  • 外科
  • 生物理学
  • コンピュータ サイエンスの応用

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