Title :
Compact camera assistant robot for minimally invasive surgery: KaLAR
Author :
Kim, Jonathan ; Lee, Yun-Ju ; Ko, Seong-Young ; Kwon, Dong-Soo ; Lee, Woo-Jung
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejon, South Korea
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper describes the development of a compact laparoscopic assistant robot system which functions as a camera assistant in laparoscopic surgery. The system allows 3-DOF motion and is mountable to a standard laparoscope holder. The 3-DOF motion includes 1-DOF translation and 2DOF bending motion for adjusting viewpoints. This compact system is designed so that viewing angles are adjusted within the abdomen using a bending section and thus, interference with the operating surgeon is reduced. Voice-controlled command input and visual-servoing are implemented for the control of the robot. Our preliminary experiments show a possible clinical use upon further improvement.
Keywords :
image motion analysis; medical robotics; motion control; robot vision; laparoscopic assistant robot; laparoscopic surgery; visual servoing; voice-controlled command input; Abdomen; Biomedical imaging; Cameras; Interference; Laparoscopes; Mechanical engineering; Medical robotics; Minimally invasive surgery; Robot vision systems; Surges;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389798
