Laser-Pointing Endoscope System for Intraoperative 3D Geometric Registration

Yoshihiko Nakamura, Mitsuhiro Hayashibe
2003 Journal of the Robotics Society of Japan  
Precise measurements of geometry should accompan y robotic equipments in operating rooms if their advanhges are further pursued. For deforming organs including a liver, intraoperative geometric measurements play an essential role in computer surgery in addition, to pre-operative geometric information from CT, MRI and s o on. W e developed a laser-pointing endoscope using an optical galvano scanner and a 955fps hi,qh-speed camera. The laser-pointing endoscope system acquires and visualizes the
more » ... nd visualizes the shape of the area of interest in a flash of time. Applications of the system also include the touch screen interface for non-master-slave operation of surgical robots, where the 3 0 coordinates of the touched point o n screen are measured by the system and guide a robot. Results of in-vivo experiments o n a liver of pig verify the eflectiveness of the proposed system.
doi:10.7210/jrsj.21.302 fatcat:e3svodqqlveyzbvubjkvvvpv7q