Self-guided robotic camera control for laparoscopic surgery compared with human camera control

Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery

“…Two robots are carrying actuated and sensor integrated surgical instruments (Figure 3 bottom right) which provide additional DoF. The third is used as an automated robotic camera guidance system (Wei et al, 1997;Omote et al, 1999). The robotic arms are lightweight and dimensions are optimized for surgical applications, performing with the highest possible manipulability, dexterity, and accuracy in the important minimally invasive application areas of abdominal and cardiac surgery (Konietschke et al, 2003).…”

“…All instruments are equipped with a color marker at the tip. Provided, the same color is not normally present at the operation site, the marker can be segmented from www.intechopen.com the video image with a high degree of robustness (Wei et al, 1997;Omote et al, 1999). Following the segmented positions a trajectory can be calculated which generates the target trajectory for the camera guidance robot.…”

Leistungsfähigkeit, Risiken und Vorteile des Einsatzes der Robotik in medizinisch-operativen Disziplinen

“…Obwohl auch diese hoch entwickelten Funktionssysteme durchaus erfolgreich klinisch eingesetzt wurden [11], haben sich Kameraführungssysteme nicht durchsetzen können.…”

Motion Tracking for Minimally Invasive Robotic Surgery

“…Problems of cooperation between the two individuals naturally arise, and a robotic assistant which automatically controls the laparoscope can offer a highly reliable alternative to this situation. In this section a autonomous laparoscopic guidance system for laparoscopic surgery is described, developed at the DLR's robotics lab and thoroughly tested at MRIC (Department of Surgery at the Klinikum rechts der Isar (MRIC) of the Technical University of Munich) Omote et al, 1999). A robot holds the laparoscope and directs it to the operative field by means of image processing techniques.…”