Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability. Issue 2 (1st December 2020)

• Record Type: Journal Article
• Authors: Hangai, Satoshi; Nozaki, Takahiro; Soma, Tomoya; Miyashita, Hidetaka; Asoda, Seiji; Yazawa, Masaki; Sato, Kazuki; Kawana, Hiromasa; Ohnishi, Kouhei; Kobayashi, Eiji
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 17:Issue 2(2021)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2020-12-01
• Subjects: force control -- haptics -- lymphatic vessels -- microsurgery -- nerves -- orthopaedic surgery -- plastic surgery -- robotics -- surgery assistance -- suture -- traction -- vessels; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.2205
• Languages: English
• ISSNs: 1478-5951

Abstract

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.