Micro camera augmented endoscopic instruments: Towards superhuman performance in remote surgical cutting

C. Staub, C. Lenz, B. Jensen, S. Can, A. Knoll, R. Bauernschmitt

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

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.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2000-2006
Number of pages7
DOIs
StatePublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 7 Oct 201212 Oct 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period7/10/1212/10/12

Keywords

  • haptic guidance
  • medical robotics
  • surgical cutting
  • telemanipulation

Fingerprint

Dive into the research topics of 'Micro camera augmented endoscopic instruments: Towards superhuman performance in remote surgical cutting'. Together they form a unique fingerprint.

Cite this