Active cannula robot with misorientation auto-recovery camera: A method to improve hand-eye coordination in minimally invasive surgery

2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI:10.1109/ICCAS.2013.6703908

Xiao Li, Taeyoung Choi, Hanyong Chun, Suhyeon Gim, Soojun Lee, Sungchul Kang, Keri Kim

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引用次数: 4

Abstract

We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a motor with a decelerator. Elastic interaction is caused as tubes are translated and rotated relatively, which reshape the cannula to bypass the barriers. In addition, vision system is also integrated into our system. However, when the micro-camera fastened to the tip of cannula rotates together with the active cannula, the orientation of object presented on the monitor is always changing, which will complicate manual dexterity among surgeons. To solve this problem, we design a real-time misorientation auto-recovery algorithm for calibrating the rotation angle and confirm it by experiment.

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带错位自动恢复摄像头的主动插管机器人:一种提高微创手术中手眼协调能力的方法

研制了一种用于微创手术的主动插管机器人(微手术系统)。该机器人主要由主动导管和控制单元两部分组成。活动套管由两个或三个同心的预弯曲弹性管组成，这些弹性管可以相互平移和旋转。每根管子都由带减速器的电机驱动。弹性相互作用是由于管子的相对平移和旋转引起的，这使管子重塑以绕过障碍物。此外，视觉系统也被集成到我们的系统中。然而，当固定在导管尖端的微型摄像机与活动导管一起旋转时，显示器上显示的物体方向总是在变化，这给外科医生的手工灵巧性带来了困难。为了解决这一问题，我们设计了一种实时定位误差自动恢复算法来校准旋转角度，并通过实验进行了验证。

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2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)

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