Development of A Laparoscope Positioning System Controlled by Surgeon's Viewpoint to The Target on Imaging Monitor during Laparoscopic Surgery

腹腔镜术因术后给患者带来了许多好处而变得越来越受欢迎。然而，在腹腔镜手术中，外科医生和摄像助手之间的合作是重要的，因为外科医生的视野被降级到摄像助手。当外科医生瞄准时，更好的办法是用一只发达的机械手来更有效地操纵腹腔镜，而不是用相机助手来显示靶子。在这项研究中，我们开发了一种简单、小型的腹腔镜摄像机定位系统，通过外科医生在成像监视器上的视角来操纵，以减少外科医生对摄像机的控制。该系统由眼点检测系统、微控制器(PIC)、联动机构和两个步进电机组成。系统的控制信号与指示成像监视器上的眼点的坐标值的电压类似。用汇编语言编写了电机控制程序，实现了摄像机的有效快速定位。实验结果表明，这种由外科医生视角控制的摄像机定位系统在影像监视器上的有效性和潜力。

Laparoscopic surgery has become more popular with many postoperative benefits for patient. In laparoscopic surgery, however, the cooperation between a surgeon and a camera assistant is important, because the surgeon's view field is relegated to the camera assistant. It may be better that a robotic hand is well developed and manipulates a laparoscope more effectively than camera assistant to show a target as the surgeon aimed. In this study, we developed a simple and small positioning system for laparoscopic camera that is manipulated by the surgeon's viewpoint on the imaging monitor for reducing his effort with camera control. This system is composed with eye point detection system, micro-controller(PIC), linkage mechanism and two stepping motors. The control signals to the system are analogs with voltage that indicate coordinate values of the eye point on the imaging monitor. The motor controlling program is described with assembly language for effective and fast positioning of the camera. Our experimental results show the effectiveness and potentiality with this camera positioning system controlled by the surgeon's viewpoint on the imaging monitor.