Cart (Loading....) | Create Account
Close category search window

Autonomous High Precision Positioning of Surgical Instruments in Robot-Assisted Minimally Invasive Surgery under Visual Guidance

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Staub, C. ; Robot. & Embedded Syst., Tech. Univ. Munchen, Munich, Germany ; Knoll, A. ; Osa, T. ; Bauernschmitt, R.

Despite the fact that minimally invasive robotic surgery provides many advantages for patients, complex tasks are still time-consuming, error-prone and lead to quicker fatigue of the surgeon. Automating recurrent tasks could greatly reduce total surgery time for patients. While surgeons gain most of the information which is necessary to perform the operation from the visual feedback of cameras, there is only little work on autonomous systems utilizing visual information to generate movement commands. A major step towards automated tasks is the autonomous positioning of surgical instruments with high precision inside the situs. In this paper, we tackle the challenges arising from automated positioning by employing visual servoing techniques in two ways: On one hand, a calibration of all system components has to be performed to enable position-based servoing in Cartesian space. On the other hand, lever effects which appear due to the nature of laparoscopic surgery and intrinsic system imprecisions may not be overcome with calibrations. Therefore, the instruments can also be servoed image-based. Combining both approaches to a switching scheme allows for autonomous high precision positing of surgical instruments in a complex setup with four robots.

Published in:

Autonomic and Autonomous Systems (ICAS), 2010 Sixth International Conference on

Date of Conference:

7-13 March 2010

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.