A pneumatic laparoscope holder controlled by head movement
A pneumatic laparoscope holder controlled by head movement
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DOI：
10.1002/rcs.1606
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发表时间：
2015-09-01
影响因子：
2.5
通讯作者：
Kawashima, Kenji
中科院分区：
文献类型：
--
作者：
Tadano, Kotaro;Kawashima, Kenji
背景在传统的腹腔镜手术中，腹腔镜由摄像助手根据外科医生的口头指示来操作。因此，有一个强烈的需要腹腔镜保持器谁直观地提供了良好的stability.MethodsA的驱动机器人手臂适当的意见，开发持有和操纵腹腔镜。机器人手臂是由用户的头部运动，这是测量与陀螺仪连接到操作员的头部和身体。ResultsWe实验证实，头部跟踪可以准确地使用所提出的方法进行。实验结果表明，机器人摄像机保持器具有足够的动态特性，以快速跟随操作者的头部movement.ConclusionsA腹腔镜保持器控制系统已经开发。在该系统中，腹腔镜由一个可驱动的机器人臂保持，该机器人臂被控制以跟随操作者的头部运动。实验结果证明了该系统的有效性。版权所有（c）2014约翰威利父子有限公司
BackgroundIn traditional laparoscopic surgery, the laparoscope is handled by a camera assistant according to verbal instructions from the surgeon. Thus there is a strong need for a laparoscope holder who intuitively provides the appropriate view with excellent stability.MethodsA pneumatically driven robotic arm was developed to hold and manipulate a laparoscope. The robotic arm is operated by the user's head movement, which is measured with gyroscopes attached to the operator's head and body.ResultsWe confirmed experimentally that head tracking can be performed accurately using the proposed method. The experimental results indicated that the robotic camera holder has sufficient dynamic characteristics to quickly follow the operator's head movement.ConclusionsA laparoscope holder control system has been developed. In this system, a laparoscope is held by a pneumatically driven robotic arm that is controlled to follow the operator's head movement. The experimental results prove the effectiveness of the system. Copyright (c) 2014 John Wiley & Sons, Ltd.