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• W2175839001 abstract "Introduction: During laparoscopic surgery, the surgeon currently must instruct a human camera operator or a robotic arm to move the camera. This process distracts the surgeon, and the camera is not always placed in an ideal location. To mitigate these problems, we have developed a test platform that tracks the tips of laparoscopic instruments and automatically moves a camera with no explicit human direction.1,2 The video demonstrates the movement of the camera with the developed system. A novice is shown using the system to complete a peg transfer task. In addition, the software interface is displayed, which illustrates how the system tracks the tools using colored markers. Materials and Methods: The test platform is designed to mimic a typical laparoscopic working environment, where two hand-operated tools have access to a surgical site through small ports. A pan-tilt-zoom camera is positioned over the tools, which emulates the positioning capabilities of a straight (0°) scope placed through a trocar. Image processing techniques are employed to track the positions of the tools using colored markers, and a control algorithm uses this information to automatically move and zoom the camera to keep the tools in the view. In addition, two test tasks (based on peg transfer and precision cutting) that require camera movement have been developed to aid in the future evaluation of the system. These tasks are similar to those of the Fundamentals of Laparoscopic Surgery program, which provides a good benchmark for evaluating performance on surgical tasks.3–6 Results: The system was found to successfully perform the intended camera control behaviors and track the laparoscopic instruments during the execution of the test tasks. The video illustrates the rapid response of the camera system to the movements of both instruments (in any direction). In addition, the video shows how the camera zooms in when the tool tips come together and zooms out when they are sufficiently far apart. The camera's movements are smooth and consistent throughout all parts of the demonstration. Conclusions: This technology shows that it is possible to create an autonomous camera system that cooperates with a surgeon without requiring any explicit user input. However, the currently implemented camera control behaviors are not ideal or sufficient for many surgical tasks. Future work will be performed to develop, test, and refine more complex camera control behaviors that are optimized for different kinds of surgical tasks. In addition, portions of the test platform will be redesigned to enable its use in actual laparoscopic procedures. For example, the current pan-tilt-zoom camera will be replaced with a robotic system that manipulates an actual laparoscope (straight or angled). B.K., L.R., A.P., and M.K. have applied for a patent (through Wayne State University) that may cover some aspects of the presented system. It is entitled “Intelligent Autonomous Camera Control for Robotics with Medical, Military, and Space Applications” and can be found as WIPO publication number WO 2012/078989. Runtime of video: 3 mins 58 secs A brief abstract summarizing this work was presented at the 2013 meeting of the Pacific Association of Pediatric Surgeons in Lovedale, NSW, Australia." @default.
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• W2175839001 date "2014-06-01" @default.
• W2175839001 modified "2023-10-18" @default.
• W2175839001 title "Demonstration of Work Towards an Autonomous Robot for Camera Control During Laparoscopic Surgery" @default.
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• W2175839001 doi "https://doi.org/10.1089/vor.2013.0176" @default.
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