Intuitive maneuver of multi-DoFs laparoscopic system for minimally invasive surgery

摘要

Robot-assisted minimally invasive surgery (RMIS) has become widespread because of its accuracy, stability and intuition. In the traditional laparoscopic surgery, an assistant is essential to help the surgeon in controlling the laparoscope. However, surgeons need to communicate with the assistant, and it is also difficult for an assistant manipulate the laparoscope to an anatomical position that the surgeon desired. Accordingly, the objective of this paper is to develop the Intuitively Robotic Laparoscope System (IRLS) with a more intuitive means to conquer these problems. With the gyroscope mounted on the head, the surgeon can dominate the laparoscope maneuver directly. To maneuver multi degree of freedoms and increase safety, a pedal is used as a power and mode switch. Furthermore, an algorithm is also adopted to adjust the angle collected by the gyroscope to make this system more ergonomic. Finally, an experimental result demonstrates that the data from the gyroscope being used is feasible and the error is acceptable.