Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vinci Research Kit (dVRK) System
| Autor: | Philip Wai Yan Chiu, Xin Ma, Chengzhi Song, Zheng Li |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Control and Optimization
Endoscope Computer science 0206 medical engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Biomedical Engineering 02 engineering and technology Rotation Tracking (particle physics) 03 medical and health sciences 0302 clinical medicine Artificial Intelligence medicine Computer vision Laparoscopy medicine.diagnostic_test business.industry Mechanical Engineering 020601 biomedical engineering Computer Science Applications Human-Computer Interaction Control and Systems Engineering Invasive surgery Flexible endoscope Eye tracking 030211 gastroenterology & hepatology Computer Vision and Pattern Recognition Artificial intelligence business Servo Ex vivo |
| Zdroj: | IEEE Robotics and Automation Letters. 5:820-827 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.2965863 |
| Popis: | Endoscopes play an important role in minimally invasive surgery (MIS). Due to the advantages of less occupied motion space and enhanced safety, flexible endoscopes are drawing more and more attention. However, the structure of the flexible section makes it difficult for surgeons to manually rotate and guide the view of endoscopes. To solve these problems, we developed a 6-DOF robotic stereo flexible endoscope (RSFE) based on the da Vinci Research Kit (dVRK). Then an image-based endoscope guidance method with depth information is proposed for the RSFE. With this method, the view and insertion depth of the RSFE can be adjusted by tracking the surgical instruments automatically. Additionally, an image-based view rotation control method is proposed, with which the rotation of the view can be controlled by tracking two surgical instruments. The experimental results show that the proposed methods control the direction and rotation of the view of the flexible endoscope faster than the manual control method. Lastly, an ex vivo experiment is performed to demonstrate the feasibility of the proposed control method and system. |
| Databáze: | OpenAIRE |
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