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Automatic 3-D Positioning of Surgical Instruments during Robotized Laparoscopic Surgery Using Automatic Visual Feedback [chapter]

A. Krupa, M. de Mathelin, C. Doignon, J. Gangloff, G. Morel, L. Soler, J. Leroy, J. Marescaux
2002 Lecture Notes in Computer Science  
Then, the surgical instrument positioning is done using an automatic visual servoing from the endoscopic image.  ...  This paper presents a robotic vision system that automatically retrieves and positions surgical instruments in the robotized laparoscopic surgical environment.  ...  Moji Ghodoussi for his technical support in the use of the medical robots.  ... 
doi:10.1007/3-540-45786-0_2 fatcat:eqkkxpchbfcsbpqo3cdcd3su24

Automatic positioning of surgical instruments during laparoscopic surgery with robots using automatic visual feedback

A. Krupa, M. de Mathelin, C. Doignon, J. Gangloff, G. Morel, L. Sole, J. Leroy, J. Marescaux, Marc THIRIET
2002 ESAIM: Proceedings and Surveys  
Then, the surgical instrument positioning is done using an automatic visual servoing from the endoscopic image.  ...  This paper presents a robotic vision system that automatically retrieves and positions surgical instruments in the robotized laparoscopic surgical environment.  ...  The control scheme used to position the instrument by automatic visual feedback is described in section 3.  ... 
doi:10.1051/proc:2002014 fatcat:apo73jlnd5avrgnr3r3ungo5ve

Towards semi-autonomy in laparoscopic surgery through vision and force feedback control [chapter]

Alexandre Krupa, Christophe Doignon, Jacques Gangloff, Michel de Mathelin, Luc Solert, Guillaume Morel
2001 Lecture notes in control and information sciences  
This paper shows ongoing research results on the development of automatic control modes for robotized laparoscopic surgery.  ...  We show how both force feedback and visual feedback can be used in an hybrid control scheme to autonomously perform basic surgical subtasks.  ...  In this case, the robot controller uses the visual feedback from the laparoscope to automatically drive the instruments, through a visual servo loop, towards their desired location.  ... 
doi:10.1007/3-540-45118-8_20 fatcat:2cv3qzqy4nbnfpl3hshvpyaj4u

Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing

A. Krupa, J. Gangloff, C. Doignon, M.F. de Mathelin, G. Morel, J. Leroy, L. Soler, J. Marescaux
2003 IEEE Transactions on Robotics and Automation  
This paper presents a robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopic surgical operations.  ...  The instrument is mounted on the end-effector of a surgical robot which is controlled by visual servoing.  ...  ACKNOWLEDGMENT The experimental part of this work was made possible thanks to the collaboration of Computer Motion, Inc., that graciously provided the AESOP medical robot.  ... 
doi:10.1109/tra.2003.817086 fatcat:wigrl7py2jfklc7vosu6rslrlu

Towards Semi-autonomy in Laparoscopic Surgery: First Live Experiments [chapter]

Alexandre Krupa, Christophe Doignon, Jacques Gangloff, Michel de Mathelin, Guillaume Morel, Luc Soler, Joel Leroy, Moji Ghodoussi
2003 Springer Tracts in Advanced Robotics  
The instrument is manipulated by a commercially available laparoscopic robot (ZEUS, CMI). Its motion is controlled in the image using a visual servoing algorithm.  ...  This paper presents the first live experimental results of a project aimed at developing semi-autonomy for a laparoscopic surgical robot.  ...  The experimental part of this work has been made possible thanks to the collaboration of Computer Motion Inc. that has graciously provided the medical robots.  ... 
doi:10.1007/3-540-36268-1_39 fatcat:bkmf2vsa5ngbvgqkc3n6vjpkwu

Framework of automatic robot surgery system using Visual servoing

T Osa, C Staub, A Knoll
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we propose algorithms for the automatic positioning of the laparoscope and the surgical instruments under small incisions of skin.  ...  This objective can be achieved by the use of Visual servoing. We have developed a visual-servoing-based robotic laparoscopic surgery system.  ...  The laparoscope and surgical instruments are mounted on robot arms and these devices can be positioned automatically using visual servoing.  ... 
doi:10.1109/iros.2010.5650301 dblp:conf/iros/OsaSK10 fatcat:bce35o2t7bfe7ikqyzrgusi5qe

Force control for tissue tensioning in precise robotic laser surgery

S. Portoles, P. Vanbiervliet, B. Rosa, C. Tomassetti, C. Meuleman, E.B. Vander Poorten, D. Reynaerts
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
D. Automatic tensioning A third type of control, automatic tensioning, was implemented additionally.  ...  Surgeons are also reluctant to use current commercial surgical robotic systems for complex laser tasks, indicating that the lack of haptic feedback prevents them from efficient and safe tissue handling  ... 
doi:10.1109/icra.2015.7139237 dblp:conf/icra/DiezVRTMPR15 fatcat:2d7az6oyz5bdtewk43hnx3gzoq

Toward increased autonomy in the surgical OR: needs, requests, and expectations

Michael Kranzfelder, Christoph Staub, Adam Fiolka, Armin Schneider, Sonja Gillen, Dirk Wilhelm, Helmut Friess, Alois Knoll, Hubertus Feussner
2012 Surgical Endoscopy  
Results Robotic surgical systems can help to increase OR autonomy by camera control, application of intelligent instruments, and even accomplishment of automated surgical procedures.  ...  Innovative surgical techniques inevitably lead to an increased use of complex technology.  ...  Analysis is based on our own clinical experience in laparoscopic surgery and MPS as well as experimental work in NOTES [3, 4] including the use of a robot prototype.  ... 
doi:10.1007/s00464-012-2656-y pmid:23239307 fatcat:n272s3kjgjcn5orkdpbwtvh6ae

A new framework for vision-enabled and robotically assisted minimally invasive surgery

Yuan-Fang Wang, Darrin R Uecker, Yulun Wang
1998 Computerized Medical Imaging and Graphics  
This paper presents our on-going research at bringing the state-of-the-art in vision and robotics technologies to enhance the emerging minimally invasive surgery, in particular the laparoscopic surgical  ...  The proposed choreographed scope maneuvering concept facilitates the surgeon's control of his/her visual feedback in a handless manner, reduces the risk to the patient from inappropriate scope movements  ...  To improve the current mode of laparoscopic surgery, many mechanical scope positioning systems have been proposed [3, 4, 5, 6, 7] .  ... 
doi:10.1016/s0895-6111(98)00052-4 pmid:10098890 fatcat:ob55dz6a7ff7bgupj4kep3pp6u

Advanced Intelligent Systems for Surgical Robotics [article]

Mai Thanh Thai, Phuoc Thien Phan, Shing Wong, Nigel H. Lovell, Thanh Nho Do
2020 arXiv   pre-print
Surgical robots have had clinical use since the mid 1990s.  ...  surgeons during the operation.  ...  The general intention of the use of a surgical robot is to assist the surgeon during the surgery.  ... 
arXiv:2001.00285v1 fatcat:eymmyaqgtve6jghuj4fd25jmby

Real-time 3D visual tracking of laparoscopic instruments for robotized endoscope holder

Zijian Zhao
2014 Bio-medical materials and engineering  
In this paper, a new method is proposed for the automatic 3D-tracking of laparoscopic instruments in real-time to provide more convenient interactions between surgeons and the robotized endoscope holder  ...  The method is based on the 3D position measurements of the insertion points of the instruments and the strip markers, combined with the depth estimation of the instruments.  ...  Results In the experiment, a plastic phantom with a test-bench inside was used for the modeling of a laparoscopic surgery with one surgical instrument.  ... 
doi:10.3233/bme-141083 pmid:25226970 fatcat:oa7spwev5zeudonsibiv7rykgm

Laparoscopic Robotic Surgery: Current Perspective and Future Directions

Sally Kathryn Longmore, Ganesh Naik, Gaetano D. Gargiulo
2020 Robotics  
Just as laparoscopic surgery provided a giant leap in safety and recovery for patients over open surgery methods, robotic-assisted surgery (RAS) is doing the same to laparoscopic surgery.  ...  With new laparoscopic-RAS systems now commercially available we should see RAS being adopted more widely in surgical interventions and costs of procedures using RAS to decrease in the near future.  ...  C = Manipulator based on traditional laparoscopic instruments. D = Manipulator resembles a game controller. E = Visual cues are used for instrument feedback.  ... 
doi:10.3390/robotics9020042 fatcat:o5sjwpait5eotmv2qaduczps3u

Advances in laparoscopic urologic surgery techniques

Haidar M. Abdul-Muhsin, Mitchell R. Humphreys
2016 F1000Research  
This review was conducted through a comprehensive literature search in order to highlight some of the most promising technologies in laparoscopic visualization, augmented reality, and insufflation.  ...  Additionally, this review will provide an update regarding the current status of single-site and natural orifice surgery in urology.  ...  are currently familiar with laparoscopic prostate anatomy and can use alternative visual cues to guide them during these surgical steps.  ... 
doi:10.12688/f1000research.7660.1 pmid:27134743 pmcid:PMC4841198 fatcat:hnxxon3tpferlly5l3bwxcdony

Novel robotic systems and future directions

KiDon Chang, AliAbdel Raheem, KoonHo Rha
2018 Indian Journal of Urology  
Robot-assistance is increasingly used in surgical practice.  ...  Currently, various modifications are being made in the consoles, robotic arms, cameras, handles and instruments, and other specific functions (haptic feedback and eye tracking) that make up the robotic  ...  Haptic feedback is achieved by counter movements of the laparoscopic handle at the console according to force and direction applied at the tip of the instrument.  ... 
doi:10.4103/iju.iju_316_17 pmid:29692503 pmcid:PMC5894282 fatcat:kkklbxzrt5az3p6idzev7h24ka

Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery

Christoph Staub, Takayuki Osa, Alois Knoll, Robert Bauernschmitt
2010 2010 IEEE International Conference on Robotics and Automation  
This work tackles the problem of autonomous tissue piercing in robot-assisted laparoscopic surgery with a circular needle and general purpose surgical instruments.  ...  A precise positioning of the needle is obtained by means of a switching visual servoing approach and the subsequent stitch is performed in a circular motion.  ...  Surgical suturing is probably one of the most difficult and time consuming tasks for surgeons in laparoscopic surgery [3] .  ... 
doi:10.1109/robot.2010.5509601 dblp:conf/icra/StaubOKB10 fatcat:2z27blye25hjtadrwfi4bpxzva
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