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Design and development of an effective low-cost robotic cameraman for laparoscopic surgery: RoboLens

Mirbagheri, A ; Sharif University of Technology | 2011

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  1. Type of Document: Article
  2. DOI: 10.1016/j.scient.2011.03.008
  3. Publisher: 2011
  4. Abstract:
  5. 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 interfaces were implemented for user control, including a voice command recognition system and a smart 6- button foot pedal. The technical and operational features of the system were evaluated using experimental examinations and then during clinical trials of laparoscopic cholecystectomy on human subjects. Results indicated a high trajectory following accuracy, low response time, sufficiently large workspace for surgeon and assistants, and a stable and properly oriented image. The system was found to be easy to set up and use, and contributed to a faster and more accurate surgical operation
  6. Keywords:
  7. Surgical robotics ; Cameraman robot ; Clinical trial ; Design and Development ; Experimental examination ; Foot pedals ; Hands-free ; Human subjects ; Kinematic Analysis ; Laparoscopic cholecystectomy ; Laparoscopic surgery ; Large workspace ; Low costs ; Manipulability ; Operating room environment ; Operator interfaces ; Practical use ; Remote centre of motions ; Response time ; Robotic systems ; Rotary actuator ; Surgical operation ; Surgical robotics ; Trajectory following ; User control ; Voice command ; Actuators ; Robots ; Transplantation (surgical) ; Surgical equipment ; experimental design ; kinematics ; robotics
  8. Source: Scientia Iranica ; Volume 18, Issue 1 B , 2011 , Pages 59-71 ; 10263098 (ISSN)
  9. URL: http://www.sciencedirect.com/science/article/pii/S1026309811000137