Manipulation of a robotic endoscope holder with encephalographic signals in a surgical simulator

Abstract

This paper shows the implementation of a manipulation method based on encephalographic signals for the movement of a robotic endoscope holder in a surgical simulator. This simulator consists of three robots, one endoscope holder robot (Hibou robot) and two surgical robots (Lapbot and PA10 robot). The simulation allows performing a cholecystectomy operation, where the removal of a gallbladder is performed using surgical robots while the endoscope holder robot transmits images from inside the patient's abdomen. For the manipulation of the endoscope holder robot in order to focus on different parts of the abdomen, a joystick device is used, but also a natural interface, which allows the user, after training, to move the camera inside the patient's abdomen by means of his thoughts. Tests performed with several users show promising results regarding the manipulation of objects by thought training, and in particular the manipulation of the endoscope camera in laparoscopy operations, which would allow a better management of the whole operation by the surgeon.