TY - GEN
T1 - Micro camera augmented endoscopic instruments
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
AU - Staub, C.
AU - Lenz, C.
AU - Jensen, B.
AU - Can, S.
AU - Knoll, A.
AU - Bauernschmitt, R.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - haptic guidance
KW - medical robotics
KW - surgical cutting
KW - telemanipulation
UR - http://www.scopus.com/inward/record.url?scp=84872360357&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385856
DO - 10.1109/IROS.2012.6385856
M3 - Conference contribution
AN - SCOPUS:84872360357
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2000
EP - 2006
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -