Autonomous Robot-Assistant Camera Holder for Minimally Invasive Surgery
Autonomous Robot-Assistant Camera Holder for Minimally Invasive Surgery
复制标题
用于微创手术的自主机器人辅助相机支架
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
S. Zeghloul
中科院分区：
文献类型：
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作者：
J. Sandoval;M. Laribi;S. Zeghloul
在本文中，我们提出了一个自主的摄像机保持器机器人系统的微创手术（MIS）。所提出的系统是由一个7自由度的协作机器人，即弗兰卡机器人，持有手术摄像机和一个运动捕捉系统，即Qualisys系统，在线跟踪手术工具的运动。机器人根据Qualisys系统提供的工具尖端坐标调整其运动，以连续监控手术姿势。手术摄像机通过手术装置（即套管针）插入患者体内，产生通常称为远程运动中心（RCM）约束的运动学约束。为了保证病人的安全，RCM约束是由控制方法保证。此外，顺应性控制法的实施，以平滑的机器人运动，以及减少所产生的努力，人机交互。机器人操作系统（ROS）框架已被用来建立机器人和Qualisys之间的通信，使用UDP协议进行数据交换。
In this paper we present an autonomous camera holder robotic system for minimally invasive surgery (MIS). The proposed system is composed of a 7-DoF collaborative robot, i.e. Franka robot, holding the surgical camera and a motion capture system, i.e. Qualisys system, tracking online the surgical tools movements. The robot adapts its movements to continuously monitor the surgical gestures, based on the tools tips coordinates provided by the Qualisys system. The surgical camera is inserted into the patient’s body through a surgical device, i.e. trocar, generating a kinematic constraint commonly known as Remote Center of Motion (RCM) constraint. In order to preserve the patient safety, the RCM constraint is guaranteed by the control approach. Moreover, a compliance control law is implemented to smooth the robot movements as well as to reduce the efforts generated by the human-robot interactions. Robot Operating System (ROS) framework has been used to establish the communication between the robot and Qualisys, using the UDP protocol for data exchange.