A novel 3D-vision-based collaborative robot as a scope holding system for port surgery: a technical feasibility study

Area of Science:

• Surgical Robotics
• Medical Imaging
• Mechatronics

Background:

• A stable and optimized visual field is critical for port surgery.
• Manual scope handling leads to fatigue and requires extensive training.
• Existing scope-fixing devices can be inconvenient and require frequent adjustments.

Purpose of the Study:

• To develop and evaluate a novel robotic system for automatic and optimized surgical scope placement.
• To test the technical feasibility and accuracy of the collaborative robotic (CoBot) system in vitro.
• To compare the performance of the CoBot system against manual scope positioning.

Main Methods:

• A collaborative robotic (CoBot) system with a mechatronic arm and 3D camera was developed.
• The CoBot system uses machine vision to locate surgical ports and align the scope.
• Three tests were conducted: laser alignment, robotic exoscope positioning, and manual exoscope positioning for comparison.

Main Results:

• The CoBot system achieved high accuracy in aligning a laser finder with the port axis (mean errors < 1.60 mm).
• The CoBot system provided a significantly more precise, better-positioned, and stable visual field compared to manual positioning.
• The CoBot system reduced manipulation time from 52 minutes (manual) to 20 minutes (robotic).

Conclusions:

• The CoBot system effectively functions as a scope holding system for simulated port surgery.
• The robotic system provides a stable and optimized surgical view, surpassing manual methods.
• This technology offers a more efficient, user-friendly, and precise surgical operation, potentially replacing human assistance.