Human-Computer Interfacing for Control of Angulated Scopes in Robotic Scope Assistant Systems

Abstract

The objective of this work is to advance human-computer interfacing methods for control of angulated scopes in robotic scope assistant systems during laparoscopic surgeries. An architecture is proposed to integrate a human-computer interface (HCI) based on head-motion with a robotic scope assistant system. Computer algorithms are developed to process the information given by the operator via the HCI. System’s performance is evaluated for interfacing requests made by the operators. The proposed method computes suitable poses for the angulated scope such that the operator can focus on the operating field using head motion. Irrespective of the scope angulation angle, operator is able to navigate the operating field. The trajectory for each new pose took an average of 8 milliseconds to be computed while maintaining the remote center of motion within a range of 0.3 mm from the incision point. The developed architecture equipped with the interfacing method enables an operator to have direct, intuitive, and uninterrupted control of the scope for optimal visualization of the operating field.