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Visual‐based autonomous field of view control of laparoscope with safety‐RCM constraints for semi‐autonomous surgery
Author(s) -
Sun Yanwen,
Pan Bo,
Fu Yili,
Niu Guojun
Publication year - 2020
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2079
Subject(s) - computer science , jacobian matrix and determinant , constraint (computer aided design) , field (mathematics) , robot , surgical robot , simulation , control (management) , dual (grammatical number) , collision , position (finance) , computer vision , artificial intelligence , mathematics , art , geometry , literature , finance , economics , computer security , pure mathematics
Purpose The surgeon is not timely in direct control of his field of view. Autonomous laparoscope control can provide appropriate surgical field of view and facilitate the intelligent level of surgical robot system. Methods This study explores an autonomous laparoscope control framework for semiautonomous surgery. We propose a novel concept that integrates two forms of Remote Center of Motion (RCM) constraint. We also propose a novel safety‐RCM model to cope with the collision condition. We modify the image Jacobian matrix to realize RCM constraint. The two models constitute a dual‐RCM constraint for robot laparoscope arm. We perform validation of the algorithm with two experiments. Results The experimental results show that the RCM position error can be reduced with the dual‐RCM constraint. Owing to safety‐RCM model, autonomous surgical field of view control could still be realized in case of collision. Conclusion The autonomous laparoscope control could be realized with safety‐RCM and dual‐RCM algorithms.