Vision-Based Framework of Single Master Dual Slave Semi-Autonomous Surgical Robot System - 13/02/21
, B. Pan, J. Qu, Y. FuBienvenue sur EM-consulte, la référence des professionnels de santé.
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Abstract |
Background |
In the traditional Robot assisted minimally invasive surgery (RMIS) scenario, the instruments are fully controlled by the surgeon through tele-operation. Recent works have widely explored the surgical intelligence by integrating advanced approaches to enhance the surgical operating room (OR) outcomes.
Methods |
We propose a novel single-master dual-slave framework for semi-autonomous suturing task, laparoscope information is introduced to feed back into the robotic control loop to guide the movement of surgical instrument.
Results |
Experimental results demonstrate that the proposed method can handle the single-master dual-slave semi-autonomous suturing subtask. Furthermore, the framework exhibits compelling performance leading to the efficiency of surgical OR.
Conclusions |
Adding vision information into the robotic control loop can achieve the semi-autonomous operation, improve the surgical OR efficiency, this capability yields new level of intelligence for the RMIS.
Le texte complet de cet article est disponible en PDF.Graphical abstract |
Highlights |
• | A single-to-dual semi-autonomous framework of surgical robot system is proposed. |
• | The trigger condition is proposed to perform autonomous surgical operation. |
• | The semi-autonomous surgical robot system can be achieved with vision information. |
Keywords : Surgical robot, Vision-based, Semi-autonomous, Framework
Plan
Vol 42 - N° 1
P. 55-64 - février 2021 Retour au numéro
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