title: Self-guided robotic camera control for laparoscopic surgery compared with human camera control.
abstract: BACKGROUND
  In laparoscopic surgery, the surgeon no longer has direct visual control of the operation area, and a camera assistant who maneuvers the laparoscope is essential. Problems of cooperation between the two naturally arise, and a robotic assistant that automatically controls the laparoscope can offer a highly desirable alternative to this situation.
  
  
  METHODS
  A self-guided robotic camera control system (SGRCCS) based upon a color tracking method has been developed and its use evaluated in 20 cases of laparoscopic cholecystectomy and compared with using human camera control.
  
  
  RESULTS
  In 83% of the patients the procedures were successfully completed with the SGRCCS. Set-up time for the robot averaged 21 minutes; and the surgical time with and without the robot averaged 54 and 60 minutes, respectively. Using the robot instead of a human camera assistant significantly reduced both the frequency of the camera correction, 2.2 per hour compared with 15.3 per hour, and frequency of the lens cleaning, 1.0 per hour compared with 6.8 per hour. Subjective assessment by the surgeon revealed that the robot performed better than the human assistant in 71 % of the cases.
  
  
  CONCLUSIONS
  In laparoscopic surgery, the SGRCCS offered optimal camera guidance and helped to maintain the surgeon's concentration during the operation.
mesh_terms: D017081:Cholecystectomy, Laparoscopic / Q000295:instrumentation* / Q000379:methods; D019723:Endoscopes; D006801:Humans; D011786:Quality Control; D012371:Robotics; D013997:Time Factors; D016896:Treatment Outcome; D014741:Video Recording / Q000379:methods