Compact camera assistant robot for minimally invasive surgery: KaLAR

Author

Kim, Jonathan ; Lee, Yun-Ju ; Ko, Seong-Young ; Kwon, Dong-Soo ; Lee, Woo-Jung

Author_Institution

Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejon, South Korea

Volume

3

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

2587

Abstract

This paper describes the development of a compact laparoscopic assistant robot system which functions as a camera assistant in laparoscopic surgery. The system allows 3-DOF motion and is mountable to a standard laparoscope holder. The 3-DOF motion includes 1-DOF translation and 2DOF bending motion for adjusting viewpoints. This compact system is designed so that viewing angles are adjusted within the abdomen using a bending section and thus, interference with the operating surgeon is reduced. Voice-controlled command input and visual-servoing are implemented for the control of the robot. Our preliminary experiments show a possible clinical use upon further improvement.

Keywords

image motion analysis; medical robotics; motion control; robot vision; laparoscopic assistant robot; laparoscopic surgery; visual servoing; voice-controlled command input; Abdomen; Biomedical imaging; Cameras; Interference; Laparoscopes; Mechanical engineering; Medical robotics; Minimally invasive surgery; Robot vision systems; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389798

Filename

1389798