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Intuitive endoscopic robot master device with image orientation correction
Byungsik Cheon1,2, Chang-Kyun Kim2,3, Dong-Soo Kwon2,3
1School of Mechatronics Engineering, Korea University of Technology and Education (KOREATECH), Cheonan, Republic of Korea.
Summary
Correcting endoscope image orientation improves control. This study demonstrates faster, more accurate endoscopic robot tasks with corrected visual feedback, enhancing user experience.
Area of Science:
- Medical Robotics
- Surgical Navigation
Background:
- Endoscopic camera rotation causes visual confusion and control difficulties.
- This visual-motor misorientation hinders intuitive manipulation of endoscopic robots.
- Existing master devices with identical degrees of freedom exacerbate control issues.
Purpose of the Study:
- To develop a method for correcting image orientation in endoscopic robot control.
- To enable intuitive manipulation of master devices in robotic endoscopy.
- To improve the accuracy and efficiency of endoscopic procedures.
Main Methods:
- Roll misorientation was corrected by measuring and compensating for master device roll axis displacement.
- Image orientation correction was implemented for endoscopic robot control.
- Task performance (work speed, error rate) was evaluated with and without image correction.
Main Results:
- Image orientation correction significantly enhanced task completion speed.
- The number of mistakes was significantly reduced with corrected image orientation.
- Intuitive manipulation of the master device was achieved through image correction.
Conclusions:
- The proposed method effectively corrects image orientation in endoscopic robot control.
- This correction facilitates intuitive master device manipulation.
- The findings suggest improved usability and performance in robotic endoscopy.
