Sharif Digital Repository

A robotic system was designed and developed to perform the camera handling task during laparoscopic surgery. The system employs an effective low cost mechanism, with a minimum number of actuated DOFs, enabling spherical movement around a remote centre of motion positioned at the the insertion point of the laparoscopic stem. Kinematic analysis showed a high manipulability measure for the system, with the left/right movements directly governed by rotation of the first rotary actuator, and zoom and up/down movements by the simultaneous motions of the linear and second rotary actuators. A prototype of the robot was developed for practical use in an operating room environment. Hands-free operator... 

Assistant robots are widely used in laparoscopic surgery to facilitate the camera holding and manipulation task. A variety of a hands-free operator interfaces have been implemented for user control of the robots, including voice commands, foot pedals, and eye and head motion tracking systems. This paper proposes a novel user control interface, based on processing of the laparoscopic images, that enables the robot to automatically adjust the view of the laparoscopic camera without disturbing the surgeon's concentration. An effective marker-free detection method was investigated to track the instrument position in the laparoscopic images in real time so that the robot could center the...