Development of Safe Device for Minimally Inva (NOTE and Single Port Surgery) in Pediatric

近年来，机器人系统被用于辅助笔记和外科手术(SPS)。然而，现有的系统需要手动观察，阻碍了手术任务。我们提出了一种动态视觉控制的手术，内窥镜视角为人。原型机器人由一个视觉机械手(抓取：5自由度，烧灼：3自由度)组成，可以是附着式机械手。特别是，本文重点介绍了一种活体控制在胃和烧灼的任务，由一个谨慎实现。

Recently, robotics systems are focused to assist in NOTES anSurgery (SPS). However, the existing system required a manuaviewpoint, hindering the surgical task. We proposed a surgwith dynamic vision control, the endoscopic view being manThe prototype robot consists of a manipulator for vision manipulators (gripping: 5DOFs, cautery: 3DOFs) can be attachemanipulator. In particular, this paper focuses on an in vivvision control in the stomach and a cautery task by a cautachieved.