Framework of automatic robot surgery system using Visual servoing

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...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1837 - 1842
Main Authors Osa, T, Staub, C, Knoll, A
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Cameras
Instruments
Laparoscopes
Manipulators
Surgery
Visual servoing
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Summary: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.
ISBN:9781424466740
1424466741
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5650301