Name
Title | ||
|---|---|---|
Micro camera augmented endoscopic instruments: Towards superhuman performance in remote surgical cutting. |
Abstract | ||
|---|---|---|
This paper introduces a new method for remote surgical cutting by providing haptic guidance along a trajectory that is measured in-situ through a miniature, tool-tip mounted endoscopic camera. By directly augmenting the instrument with a camera, instead of relying on an additional conventional endoscope, the approach becomes independent from inherent calibration uncertainties of the telemanipulation system, other than the micro camera itself, and from registration of pre- and intra-operative surgical data. We calculate a smooth cut path with corresponding scalpel orientation to guide the user towards the optimal trajectory. Experiments are conducted with passive and active haptic virtual fixtures. During active fixturing the optimal forward velocity is calculated to follow the path. The results indicate an improvement in terms of position accuracy, blade orientation, and forward velocity. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385856 | IROS |
Keywords | Field | DocType |
medical robotics,surgery,active fixturing,active haptic virtual fixtures,blade orientation,calibration uncertainty,haptic guidance,intra-operative surgical data,micro camera augmented endoscopic instruments,optimal forward velocity,optimal trajectory,position accuracy,pre-operative surgical data,remote surgical cutting,scalpel orientation,smooth cut path,superhuman performance,telemanipulation system,tool tip mounted endoscopic camera,haptic guidance,medical robotics,surgical cutting,telemanipulation | Optimal trajectory,Computer science,Control engineering,Artificial intelligence,Haptic technology,Trajectory,Computer vision,Endoscopic camera,Simulation,Medical robotics,Forward velocity,Robot,Calibration | Conference |
ISSN | Citations | PageRank |
2153-0858 | 0 | 0.34 |
References | Authors | |
0 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christoph Staub | 1 | 9 | 1.82 |
| Claus Lenz | 2 | 76 | 7.53 |
| Brian Jensen | 3 | 48 | 2.27 |
| Salman Can | 4 | 6 | 1.31 |
| Alois Knoll Knoll | 5 | 1700 | 271.32 |
| Robert Bauernschmitt | 6 | 71 | 11.34 |