Integration of automated camera steering for robotic single-site surgery

Mohsen Zahiri, Carl A. Nelson, R. Gonzalo Garay-Romero, Dmitry Oleynikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


Modern surgical approaches favor minimal invasiveness in order to improve recovery time, cosmesis, and post-operative pain. One such technique for abdominal procedures, called robotic laparoendoscopic single-site surgery (R-LESS), uses a single incision to gain access to the abdominal cavity. In this process, as in standard laparoscopic surgery, the surgeon’s visualization of the surgical site depends on the performance of an assistant who maneuvers the camera. Variation in skill of the camera assistant at following commands from the surgeon contributes to the difficulty of the procedure. Moreover, giving camera instructions is an additional task for the surgeon and is essentially a distraction from the main task. To solve this problem and provide high-quality visualization to the surgeon, we present a self-guided robotic camera control to replace the camera assistant. The system automatically tracks the robotic tools and automatically manipulates the camera to achieve the best field of view.

Original languageEnglish (US)
Title of host publicationRobotics and Mechatronics - Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics
EditorsSaid Zeghloul, Med Amine Laribi, Jean-Pierre Gazeau
PublisherKluwer Academic Publishers
Number of pages8
ISBN (Print)9783319223674
StatePublished - 2016
Event4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015 - Poitiers, France
Duration: Jun 23 2015Jun 25 2015

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


Other4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015


  • Laparoendoscopic single-site surgery
  • Robotic camera assistant
  • Surgical robotics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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