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Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery
Yanwen Sun1, Bo Pan2, Shuizhong Zou2
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China. sywhit@hotmail.com.
Journal of Medical Systems
|November 25, 2019
Summary
This study introduces an autonomous tracking algorithm for surgical robots, enhancing laparoscope control. The adaptive fusion kinematics method improves field of view stability and reduces unwanted motion during minimally invasive surgery.
Area of Science:
- Robotics
- Surgical Technology
- Artificial Intelligence
Background:
- Semi-autonomous surgery requires precise control of surgical instruments, particularly the laparoscope.
- Existing surgical robot systems face challenges in autonomous laparoscope field of view control.
Purpose of the Study:
- To develop an autonomous tracking algorithm for surgical robots.
- To enhance autonomous laparoscope field of view control in minimally invasive surgery.
- To improve the intelligence and stability of surgical robot systems.
Main Methods:
- Proposed a novel autonomous tracking algorithm.
- Developed an adaptive fusion kinematics method based on fuzzy logic.
- Integrated surgical robot kinematics and laparoscope information for robust tracking.
Main Results:
- Achieved accurate autonomous field of view control by incorporating laparoscope information.
- Reduced laparoscopic motion frequency, ensuring field of view stability.
- Demonstrated improved intelligence of the surgical robot system.
Conclusions:
- The adaptive fusion kinematics method enhances autonomous laparoscope control.
- The developed algorithm improves stability and reduces unnecessary movements in minimally invasive surgery.
- The proposed methods represent a significant advancement in surgical robot intelligence.
