Journal
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
Volume 18, Issue 5, Pages -Publisher
WILEY
DOI: 10.1002/rcs.2415
Keywords
endoscopic image correction; endoscopic robot; master device; medical robot; ureteroscope
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Funding
- TIPS(Tech Incubator Program for Startup) of Korea Business Angels Association [S2689818]
- Korea Technology & Information Promotion Agency for SMEs (TIPA) [S2689818] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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In this study, a method for image orientation correction in endoscopic robot control is proposed. By eliminating roll misorientation, intuitive manipulation of the master device is achieved, resulting in significantly improved task completion speed and accuracy.
Background The camera of an endoscope is fixed to the device, and the image rotates together with the endoscope. This can lead to visual confusion for the user and incorrect image reading. The problem also occurs with endoscopic robots. Using a master device with the same degrees of freedom as the endoscope to control an endoscopic robot causes visual-motor misorientation, making intuitive control difficult. Methods The roll misorientation between the image and master device handle was removed by measuring and correcting for the roll axis displacement of the master device. This enabled intuitive manipulation of the master device. The work speed and number of mistakes were experimentally measured with and without image correction. Results The tasks were completed significantly faster and more accurately with image orientation correction than without. Conclusions The proposed method enables intuitive manipulation of the master device by correcting the image orientation in endoscopic robot control.
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