標題: A Novel Flag-Language Remote Control Design for a Laparoscopic Camera Holder Using Image Processing
作者: Zinchenko, Kateryna
Huang, Wayne Shin-Wei
Liu, Kai-Che
Song, Kai-Tai
電控工程研究所
電機資訊國際碩士學位學程
Institute of Electrical and Control Engineering
EECS International Graduate Program-Master
關鍵字: Endoscope camera holder;surgical robotics;image processing
公開日期: 2015
摘要: 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.
URI: http://hdl.handle.net/11536/136482
ISBN: 978-8-9932-1509-0
ISSN: 2093-7121
期刊: 2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)
起始頁: 959
結束頁: 963
Appears in Collections:Conferences Paper