2022
DOI: 10.3389/frobt.2022.832208
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Robotic Endoscope Control Via Autonomous Instrument Tracking

Abstract: Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may lead to reduced image stability, increased task completion time and sometimes errors due to the monotony of the task. Robotic endoscope holders, controlled by a set of basic instructions, have been proposed as an alternative, but their unnatural handling may increase the cogni… Show more

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Cited by 28 publications
(21 citation statements)
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“…Moreover, optical tracking systems require modification of the tracked instrument to which markers can be attached. This reduces the manageability of the instrument and can result in higher costs [16]. A marker-based approach for the automation of the da Vinci endoscope is proposed by [17].…”
Section: B Instrument Trackingmentioning
confidence: 99%
See 2 more Smart Citations
“…Moreover, optical tracking systems require modification of the tracked instrument to which markers can be attached. This reduces the manageability of the instrument and can result in higher costs [16]. A marker-based approach for the automation of the da Vinci endoscope is proposed by [17].…”
Section: B Instrument Trackingmentioning
confidence: 99%
“…The reconstructed position of the point of interest can eventually be used as feedback in the control loop of a robotic manipulator. This approach was used in the laparoscopy field by [20]. Here, a tooltip localisation method based on surgical tool segmentation and a visual-servoing approach was proposed.…”
Section: Visual Servoingmentioning
confidence: 99%
See 1 more Smart Citation
“…More detailed checkpoints are required to measure the accuracy metrics for different surgery tasks [30]. What cannot be measured cannot be improved on.…”
Section: Challenges and Area Of Improvementsmentioning
confidence: 99%
“…The continuous switching from operation theatre and visualization system reduces the smoothness of the surgical procedure, and the steep learning curve of the foot pedal [2] leads to switching to the conventional microscope in most cases. Visual servoing techniques [3] have been primarily studied in the context of camera automation in minimally invasive laparoscopy [4]. Its potential has become even more significant in the context of neurosurgery, as the only solution for tracking instruments is to employ vision sensors.…”
Section: Introductionmentioning
confidence: 99%