A “pickup” stereoscopic camera with visual-motor aligned control for the da Vinci surgical system: a preliminary study

Avinash, Apeksha; Abdelaal, Alaa Eldin; Mathur, Prateek; Salcudean, Septimiu E.

doi:10.1007/s11548-019-01955-9

Cited by 14 publications

(9 citation statements)

References 18 publications

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“…Although these experimental results were obtained in an endoscopic environment, they are similar to the results of laparoscopic environment studies in that the larger the visual-motor misorientation angle, the more errors occur. 25,26 These experimental results…”

Section: Discussionmentioning

confidence: 64%

“…24 This phenomenon also occurs in manual or robotic laparoscopic surgeries, but it can be easily solved by the physical rotation of the scope itself. 25,26 However, for a flexible endoscope, where the camera is fixed to the end tip of the endoscope, the problem cannot be solved in the same manner because it is impossible to rotate only the camera. The clutch can be used to match the orientation of the image with that of the master control handle.…”

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confidence: 99%

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Intuitive endoscopic robot master device with image orientation correction

Cheon

Kim

Kwon

2022

Robotics Computer Surgery

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Background The camera of an endoscope is fixed to the device, and the image rotates together with the endoscope. This can lead to visual confusion for the user and incorrect image reading. The problem also occurs with endoscopic robots. Using a master device with the same degrees of freedom as the endoscope to control an endoscopic robot causes visual‐motor misorientation, making intuitive control difficult. Methods The roll misorientation between the image and master device handle was removed by measuring and correcting for the roll axis displacement of the master device. This enabled intuitive manipulation of the master device. The work speed and number of mistakes were experimentally measured with and without image correction. Results The tasks were completed significantly faster and more accurately with image orientation correction than without. Conclusions The proposed method enables intuitive manipulation of the master device by correcting the image orientation in endoscopic robot control.

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Section: Discussionmentioning

confidence: 64%

mentioning

confidence: 99%

Intuitive endoscopic robot master device with image orientation correction

Cheon

Kim

Kwon

2022

Robotics Computer Surgery

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“…In this category, publications include works focusing on the design and integration of new tools compatible with the dVRK: new surgical instruments [108]- [112], [115], [116], [123], [129], [130], [160], [194], [206], [207], [214], [249], [250], [252], and new sensing systems [73], [74], [180], [198], [248]. New flexible endoscopes and vision devices have also recently been proposed in [244] and [245].…”

Section: New Surgical Toolsmentioning

confidence: 99%

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

D'Ettorre

Mariani

Stilli

et al. 2021

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.R obotic-assisted surgery is now well established in clinical practice and has become the gold-standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade, with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. (ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this article, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain and build upon this initiative.

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“…In manual laparoscopic surgery, it is solved by turning it directly by hand 7 . In robotic surgery such as with da Vinci, the misalignment angle can be automatically corrected 20 . However, in the case of the endoscope, since the camera is fixed to the endoscope, this problem cannot be solved with the same method as the laparoscope.…”

Section: Introductionmentioning

confidence: 99%

Intuitive master device for endoscopic robots with visual‐motor correspondence

Cheon

Baek

Kim

et al. 2022

Robotics Computer Surgery

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Background: Master devices exclusively used for endoscopes with position control are being developed as an isomorphic form of endoscopes. These master devices are difficult to intuitively operate because the movement direction of the endoscopic image and control handle do not match. Methods:To solve this problem, a master device was developed. Its movement direction is compatible with that of the endoscopic image. It analyzes image movements according to flexible endoscopic ureteroscope movements for each degree of freedom. A driving testbed experiment was conducted that modelled the internal structure of a kidney. Results:The time taken in the experiment was shorter when using the proposed master device than the existing isomorphic master device. The proposed device yielded fewer mistakes. Conclusions:It was confirmed the proposed device is effective in exclusive use for endoscopes because of its feasibility of position control and movement direction's coinciding with that of the endoscopic image.

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A “pickup” stereoscopic camera with visual-motor aligned control for the da Vinci surgical system: a preliminary study

Cited by 14 publications

References 18 publications

Intuitive endoscopic robot master device with image orientation correction

Intuitive endoscopic robot master device with image orientation correction

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Intuitive master device for endoscopic robots with visual‐motor correspondence

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