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Development of master-slave magnetic anchoring vision robotic system for single-port laparoscopy (SPL) surgery

Haibo Feng (The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Yanwu Zhai (The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)
Yili Fu (The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 28 June 2018

Issue publication date: 29 August 2018

182

Abstract

Purpose

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.

Design/methodology/approach

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.

Findings

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.

Originality/value

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.

Keywords

Acknowledgements

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.

Citation

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

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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