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Hangai S, Nozaki T, Soma T, Miyashita H, Asoda S, Yazawa M, Sato K, Kawana H, Ohnishi K, Kobayashi E. Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability. Int J Med Robot 2020; 17:e2205. [PMID: 33207394 PMCID: PMC7988610 DOI: 10.1002/rcs.2205] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/10/2020] [Revised: 11/15/2020] [Accepted: 11/16/2020] [Indexed: 12/17/2022]
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.
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Affiliation(s)
- Satoshi Hangai
- Department of System Design Engineering, Keio University, Minato, Tokyo, Japan
| | - Takahiro Nozaki
- Department of System Design Engineering, Keio University, Minato, Tokyo, Japan.,Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Tomoya Soma
- Department of Dentistry and Oral Surgery, Keio University, Minato, Tokyo, Japan
| | - Hidetaka Miyashita
- Department of Dentistry and Oral Surgery, Keio University, Minato, Tokyo, Japan
| | - Seiji Asoda
- Department of Dentistry and Oral Surgery, Keio University, Minato, Tokyo, Japan
| | - Masaki Yazawa
- Department of Plastic and Reconstructive Surgery, Keio University, Minato, Tokyo, Japan
| | - Kazuki Sato
- Institute for Integrated Sports Medicine, Keio University School of Medicine, Shinjuku-ku, Tokyo, Japan
| | - Hiromasa Kawana
- Department of Dentistry and Oral Surgery, Keio University, Minato, Tokyo, Japan.,Department of Oral and Maxillofacial Implantology, Kanagawa Dental University, Yokosuka, Kanagawa, Japan
| | - Kouhei Ohnishi
- Haptics Research Center, Keio University, Yokohama, Japan
| | - Eiji Kobayashi
- Department of Organ Fabrication, Keio University School of Medicine, Shinjuku-ku, Tokyo, Japan
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Shimada N, Nakamura S, Hangai S, Yonemura T, Yamazato M. [2 cases of extravesical opening of the ureter]. Geka Chiryo 1967; 16:479-84. [PMID: 6072836] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 01/18/2023]
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