1P1-C06 内視鏡ロボット手術のための画像を介した手術器具操作インタフェースの開発(手術支援ロボティクス・メカトロニクス)

概要

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To solve the hand-eye coordination problem in endoscopic surgery, 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 this problem, 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 preoperative and intraoperative learning data, 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.
一般社団法人日本機械学会の論文
2008-06-06