A03-KB102 Autonomous Control of a Surgical Assistant Robot with a Stereoscopic Endoscope That Can Obtain Depth Information in Real Time
- Primary Investigator
- Atsushi Nishikawa (Shinshu University, Faculty of Textile Science and Technology, Professor)
- Hisashi Suzuki (Chuo University, Faculty of Science and Engineering, Professor)
- Hitoshi Katai (National Cancer Center Hospital, Deputy Director)
- Toshikazu Kawai (Osaka Institute of Technology, Faculty of Robotics & Design, Professor)
- Noriyasu Iwamoto (Shinshu University, Faculty of Textile Science and Technology, Assistant Professor)
In this research, a stereoscopic endoscope that can obtain depth information in real time is applied for development of a new autonomous laparoscope manipulation robot. (a) First of all, an algorithm for real-time visual tracking of surgical instruments is developed. (b) The surgeon’s upper limb and the robotic manipulator that holds the stereoscopic endoscope are then regarded as an integrated hand-eye system, and the goodness of the field of view (FOV) is estimated during surgery based on the surgeon’s joint angle information from ergonomic sensors and the depth information of the instruments tracked in endoscopic images. A new methodology of autonomous endoscope manipulation for assistant-free robotic laparoscopic surgery is finally established.