Combined endo- and exoscopic semi-robotic manipulator system for image guided operations.
This paper describes the development of a robotic assistance system for image guided operations. To minimize operation time, a multimodal user interface enables freehand robotic manipulation of an extracorporeal stereoscopic digital camera (exoscope) and an endoscope. The surgeon thereby wears a head-mounted unit with a binocular display, a head tracker, a microphone and earphones. Different view positioning and adjustment modes can be selected by voice and controlled by head rotation while pressing a miniature confirmation button with a finger. Initial studies focused on the evaluation and optimization of the intuitiveness, comfort and precision of different modes of operation, including a user test with neurosurgeons in a virtual reality simulation. The first labtype of the system was then implemented and demonstrated in the operating room on a phantom together with the clinical partners.
Serefoglou
Stefanos
S
Helmholtz Institute for Biomedical Engineering of the RWTH Aachen University, Pauwelsstrasse 20, 52074 Aachen, Germany. serefoglou@hia.rwth-aachen.de
Lauer
Wolfgang
W
Perneczky
Axel
A
Lutze
Theodor
T
Radermacher
Klaus
K
D019723:Endoscopes; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D007089:Image Enhancement / Q000295:instrumentation; D007090:Image Interpretation, Computer-Assisted / Q000295:instrumentation*; D021621:Imaging, Three-Dimensional / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D018511:Systems Integration