Interfacing Mechanism for Actuated Maneuvering of Articulated Laparoscopes using Head Motion

Abstract

The interfacing mechanism of a robotic scope assistant system assists a surgeon to maneuver a scope for visualization of the operative field during laparoscopic surgery. The work presents a head motion-based interfacing mechanism for maneuvering an articulated laparoscope. It creates a firstperson view of the operating field and correlates the motion of the view with the surgeon’s natural head motions by continuously processing multi-directional actuation commands. The interfacing mechanism was evaluated in a simulated environment. While following the target pose specified by head motion, the scope’s shaft stays within a distance of 2 mm from the incision point and the scope’s distal tip at a maximum lag distance of 1 cm. The interfacing mechanism also supports para-axial setup, providing a wider range for placing trocars to insert laparoscopic instruments during the surgery.