Positioning the laparoscopic camera with industrial robot arm

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Abstract

This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the wall of the abdominal cavity, accordingly to the surgeon's request. To manage the movements of the laparoscope around the fulcrum point a Cartesian control strategy is exploited. A six degrees of freedom industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion.

Original languageEnglish
Title of host publication2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PublisherIEEE
Publication date2017
Pages138-143
Article number7942675
ISBN (Electronic)9781509060870
DOIs
Publication statusPublished - 2017
Event2017 3rd International Conference on Control, Automation and Robotics - SunPlaza Seasons Hotel, Nagoya, Japan
Duration: 24 Apr 201726 Apr 2017
Conference number: 3

Conference

Conference2017 3rd International Conference on Control, Automation and Robotics
Number3
LocationSunPlaza Seasons Hotel
CountryJapan
CityNagoya
Period24/04/201726/04/2017

Keywords

  • Cartesian robot control
  • Laparoscopy
  • Medical robotics
  • Robot arm
  • ROS
  • Telerobotics

Cite this

Capolei, M. C., Wu, H., Andersen, N. A., & Ravn, O. (2017). Positioning the laparoscopic camera with industrial robot arm. In 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 (pp. 138-143). [7942675] IEEE. https://doi.org/10.1109/ICCAR.2017.7942675
Capolei, Marie Claire ; Wu, Haiyan ; Andersen, Nils Axel ; Ravn, Ole. / Positioning the laparoscopic camera with industrial robot arm. 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017. IEEE, 2017. pp. 138-143
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title = "Positioning the laparoscopic camera with industrial robot arm",
abstract = "This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the wall of the abdominal cavity, accordingly to the surgeon's request. To manage the movements of the laparoscope around the fulcrum point a Cartesian control strategy is exploited. A six degrees of freedom industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion.",
keywords = "Cartesian robot control, Laparoscopy, Medical robotics, Robot arm, ROS, Telerobotics",
author = "Capolei, {Marie Claire} and Haiyan Wu and Andersen, {Nils Axel} and Ole Ravn",
year = "2017",
doi = "10.1109/ICCAR.2017.7942675",
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Capolei, MC, Wu, H, Andersen, NA & Ravn, O 2017, Positioning the laparoscopic camera with industrial robot arm. in 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017., 7942675, IEEE, pp. 138-143, 2017 3rd International Conference on Control, Automation and Robotics, Nagoya, Japan, 24/04/2017. https://doi.org/10.1109/ICCAR.2017.7942675

Positioning the laparoscopic camera with industrial robot arm. / Capolei, Marie Claire; Wu, Haiyan; Andersen, Nils Axel; Ravn, Ole.

2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017. IEEE, 2017. p. 138-143 7942675.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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N2 - This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the wall of the abdominal cavity, accordingly to the surgeon's request. To manage the movements of the laparoscope around the fulcrum point a Cartesian control strategy is exploited. A six degrees of freedom industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion.

AB - This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the wall of the abdominal cavity, accordingly to the surgeon's request. To manage the movements of the laparoscope around the fulcrum point a Cartesian control strategy is exploited. A six degrees of freedom industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion.

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Capolei MC, Wu H, Andersen NA, Ravn O. Positioning the laparoscopic camera with industrial robot arm. In 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017. IEEE. 2017. p. 138-143. 7942675 https://doi.org/10.1109/ICCAR.2017.7942675