Autonomous camera control system for surgical robots

摘要

One of the most common forms of Robotic Surgery today is tele-operation. Robots are proving to be helpful for the surgeons in performing minimally invasive surgery. They provide motion scaling and tremor filtration and hence can be more accurate than a surgeon performing laparoscopic surgery. One of the drawbacks in robotic surgery is the limited view from the laparoscopic camera. With the current systems, it is possible that the tools go out of the camera's view and hence and hence risk injury to the surrounding organs without the surgeon's knowledge. Knowing where the tools and camera are, and autonomously adjusting the position of the camera so that the tools are always visible can possibly help avoid injury. The aim of this research is to develop an autonomous camera control system which can adjust the position of the camera so that the operating tools are never out of view.