Surgical robot systems have been used in single-port laparoscopy (SPL) surgery to improve patient outcomes. This study aims to develop a vision robot system for SPL surgery to effectively improve the visualization of surgical robot systems for relatively complex surgical procedures.
In this paper, a new master-slave magnetic anchoring vision robotic system for SPL surgery was proposed. A lighting distribution analysis for the imaging unit of the vision robot was carried out to guarantee illumination uniformity in the workspace during SPL surgery. Moreover, cleaning force for the lens of the camera was measured to assess safety for an abdominal wall, and performance assessment of the system was performed.
Extensive experimental results for illumination, control, cleaning force and functionality test have indicated that the proposed system has an excellent performance in providing the visual feedback.
The main contribution of this paper lies in the development of a magnetic anchoring vision robot system that successfully improves the ability of cleaning the lens and avoiding the blind area in a field of view.
This work is supported by Self-Planned Task of State Key Laboratory of Robotics and System (HIT) (SKLRS201611B), Heilongjiang Postdoctoral Scientific Research Foundation (AUGA4120001817) and Fundamental Research Funds for the Central Universities (No.HIT.NSRIF. 2014060).
Conflict of interest: The authors have stated explicitly that there are no conflicts of interest in connection with this article.
Feng, H., Zhai, Y. and Fu, Y. (2019), "Development of master-slave magnetic anchoring vision robotic system for single-port laparoscopy (SPL) surgery", Industrial Robot, Vol. 45 No. 4, pp. 458-468. https://doi.org/10.1108/IR-01-2018-0016
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