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Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability
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 senso...
Autores principales: | , , , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
John Wiley and Sons Inc.
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7988610/ https://www.ncbi.nlm.nih.gov/pubmed/33207394 http://dx.doi.org/10.1002/rcs.2205 |
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author | Hangai, Satoshi Nozaki, Takahiro Soma, Tomoya Miyashita, Hidetaka Asoda, Seiji Yazawa, Masaki Sato, Kazuki Kawana, Hiromasa Ohnishi, Kouhei Kobayashi, Eiji |
author_facet | Hangai, Satoshi Nozaki, Takahiro Soma, Tomoya Miyashita, Hidetaka Asoda, Seiji Yazawa, Masaki Sato, Kazuki Kawana, Hiromasa Ohnishi, Kouhei Kobayashi, Eiji |
author_sort | Hangai, Satoshi |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-7988610 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | John Wiley and Sons Inc. |
record_format | MEDLINE/PubMed |
spelling | pubmed-79886102021-03-29 Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability Hangai, Satoshi Nozaki, Takahiro Soma, Tomoya Miyashita, Hidetaka Asoda, Seiji Yazawa, Masaki Sato, Kazuki Kawana, Hiromasa Ohnishi, Kouhei Kobayashi, Eiji Int J Med Robot Original Articles 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. John Wiley and Sons Inc. 2020-12-01 2021-04 /pmc/articles/PMC7988610/ /pubmed/33207394 http://dx.doi.org/10.1002/rcs.2205 Text en © 2020 The Authors. The International Journal of Medical Robotics and Computer Assisted Surgery published by John Wiley & Sons Ltd. This is an open access article under the terms of the http://creativecommons.org/licenses/by/4.0/ License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Original Articles Hangai, Satoshi Nozaki, Takahiro Soma, Tomoya Miyashita, Hidetaka Asoda, Seiji Yazawa, Masaki Sato, Kazuki Kawana, Hiromasa Ohnishi, Kouhei Kobayashi, Eiji Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
title | Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
title_full | Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
title_fullStr | Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
title_full_unstemmed | Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
title_short | Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
title_sort | development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability |
topic | Original Articles |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7988610/ https://www.ncbi.nlm.nih.gov/pubmed/33207394 http://dx.doi.org/10.1002/rcs.2205 |
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