TY - GEN
T1 - Framework of automatic robot surgery system using visual servoing
AU - Osa, Takayuki
AU - Staub, Christoph
AU - Knoll, Alois
PY - 2010
Y1 - 2010
N2 - The use of technology for automation of surgical tasks has great potential in the field of robotic surgery. Automation of surgical robots essentially involves designing a control scheme for precise and automatic positioning of robotic manipulators. This objective can be achieved by the use of Visual servoing. We have developed a visual-servoing-based robotic laparoscopic surgery system. The visual servoing system enables autonomous control of a robot arm in a surgical set-up. In this paper, we propose algorithms for the automatic positioning of the laparoscope and the surgical instruments under small incisions of skin.We have verified the performance of the system theoretically and experimentally.
AB - The use of technology for automation of surgical tasks has great potential in the field of robotic surgery. Automation of surgical robots essentially involves designing a control scheme for precise and automatic positioning of robotic manipulators. This objective can be achieved by the use of Visual servoing. We have developed a visual-servoing-based robotic laparoscopic surgery system. The visual servoing system enables autonomous control of a robot arm in a surgical set-up. In this paper, we propose algorithms for the automatic positioning of the laparoscope and the surgical instruments under small incisions of skin.We have verified the performance of the system theoretically and experimentally.
UR - http://www.scopus.com/inward/record.url?scp=78651517835&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650301
DO - 10.1109/IROS.2010.5650301
M3 - Conference contribution
AN - SCOPUS:78651517835
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1837
EP - 1842
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -