Browsing by Author "Liu, Kai-Che"

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A Novel Flag-Language Remote Control Design for a Laparoscopic Camera Holder Using Image Processing
(2015)
Zinchenko, Kateryna
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Huang, Wayne Shin-Wei
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Liu, Kai-Che
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Song, Kai-Tai
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電控工程研究所
Minimally invasive surgeries( MIS) possess obvious advantages for patients but require more specially trained personnel than common, open procedure. With modern advances in robotics, it becomes possible to ease these requirements by introducing robotized assistants into operation. However, for robot-assisted solo MIS, it is crucial to have appropriate methods for robot control. This work presents a design of flag language as a novel human-to-robot communication method based on image processing of the endoscope video during real-time intervention. The proposed system comprises autonomous positioning of endoscope holder combined with recognition of surgeon intention by analyzing surgical instrument postures. The proposed algorithm has been evaluated using experimental setup as well as video clips from laparoscopic operation. Experimental results show that the flag posture can be detected satisfactorily with speed of 12 frames per second, as well as system robustness under moderate lighting and noise conditions.
ISCAS2015 Live Demonstration A Wireless Panoramic Endoscope System Design and Implementation for Minimally Invasive Surgery
(2015-01-01)
Cheng, Ching-Hwa
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Hung, Sheng-Ping
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Guo, Jiun-In
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Liu, Kai-Che
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Wu, Chi-Hsiang
Minimally Invasive Surgery (MIS) is a current major surgery technique. A chief problem with MIS is its narrow field of vision. A wireless MIS Panoramic Endoscope (WMISPE) is developed and implemented to provide doctors with broad fields of view. A WMISPE features a combination of video overlapping and video stitching. The panoramic video apparatus has two side-by-side endoscopic lenses that provide wide-angle inputs for video stitching. A WMISPE can provide doctors with panoramic videos, so that they can easily discriminate an organ's position between surgical operations. Experimental results show that WMISPE can enhance the video size to 158%. A low-power multi-mode video decoder (MMVD) is used to validate the stitching videos. The whole system is validated by personal computer, an embedded system, and an H.264 decoder chip. The test chip is successfully validated after system integration, and obtains about a 24% reduction in power consumption, which is better than that of the same design using a single supply voltage. The animal vivo experimental videos have been successfully validated.