ビジュアルサーボを用いたタッチ式内視鏡手術器具インタフェース(<特集>生体医工学シンポジウム2008)

概要

論文の詳細を見る
To solve endoscopic surgical problems such as lack of depth information and hand-eye coordination, this paper proposes an intuitive human-machine interface for 3-D positioning of surgical instruments that uses the monitor as an input device of the desired point. This interface must achieve 3-D positioning from only 2-D image information. To cope with these problems, we propose a new 3-D positioning method using a laser pointer. This method achieves 3-D positioning of a surgical instrument by determining and controlling the direction of insertion of the instrument based on visual servoing, followed by estimating the distance between the instrument and organs using projective invariants. To evaluate validity of this interface, we conducted an experiment in which the interface system makes trajectory tracking with keeping the instrument-organ distance constant. As a result, it was confirmed that a laser beam was irradiated along the desired trajectory in few gaps while keeping the distance less variant.
社団法人日本生体医工学会の論文
2008-12-10