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

腹腔镜手术越来越受欢迎，对患者术后有许多好处。然而，在腹腔镜手术中，外科医生和摄影助理之间的合作是很重要的，因为外科医生的视野被移交给了摄影助理。如果机器人手发育良好，能比相机助手更有效地操纵腹腔镜，以显示外科医生瞄准的目标，这可能会更好。在这项研究中，我们开发了一种简单而小型的腹腔镜摄像机定位系统，该系统由外科医生在成像监视器上的视点操纵，以减少他控制摄像机的工作量。该系统由眼点检测系统、单片机、联动机构和两台步进电机组成。系统的控制信号是带有电压的模拟信号，指示成像监视器上的视点的坐标值。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，这种由外科医生在成像监视器上的视点控制的摄像机定位系统是有效的和有潜力的。

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.