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Intuitive endoscopic robot master device with image orientation correction.

Byungsik Cheon^1,2, Chang-Kyun Kim^2,3, Dong-Soo Kwon^2,3

¹School of Mechatronics Engineering, Korea University of Technology and Education (KOREATECH), Cheonan, Republic of Korea.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|May 5, 2022

Summary

Correcting endoscope image orientation improves control. This study demonstrates faster, more accurate endoscopic robot tasks with corrected visual feedback, enhancing user experience.

Keywords:

endoscopic image correction endoscopic robot master device medical robot ureteroscope

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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.