TY - GEN
T1 - Integration of automated camera steering for robotic single-site surgery
AU - Zahiri, Mohsen
AU - Nelson, Carl A.
AU - Gonzalo Garay-Romero, R.
AU - Oleynikov, Dmitry
N1 - Funding Information:
This work was supported by the Office of the Assistant Secretary of Defense for Health Affairs under Award No. W81XWH-14-1-0058. Opinions, interpretations, conclusions and recommendations are those of the author and are not necessarily endorsed by the Department of Defense. The U.S. Army Medical Research Acquisition Activity, 820 Chandler Street, Fort Detrick, MD 21702-5014 is the awarding and administering acquisition office.
Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
KW - Laparoendoscopic single-site surgery
KW - Robotic camera assistant
KW - Surgical robotics
UR - http://www.scopus.com/inward/record.url?scp=84976292335&partnerID=8YFLogxK
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U2 - 10.1007/978-3-319-22368-1_15
DO - 10.1007/978-3-319-22368-1_15
M3 - Conference contribution
AN - SCOPUS:84976292335
SN - 9783319223674
T3 - Mechanisms and Machine Science
SP - 153
EP - 160
BT - Robotics and Mechatronics - Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics
A2 - Zeghloul, Said
A2 - Laribi, Med Amine
A2 - Gazeau, Jean-Pierre
PB - Kluwer Academic Publishers
T2 - 4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015
Y2 - 23 June 2015 through 25 June 2015
ER -