A telerobotic system for augmentation of endoscopic surgery

摘要

We have begun development of a telerobotic system to replace a human camera operator in endoscopic surgical procedures. The system will consist oj ‘ U remote centeroFm:motion manipulator holding the endoscope; U computer workstation supporting image processing, graphicx, manipulator control, and other junctions; and a variety oj ‘ man-machine interfirces (voice, instrumented joystick, etc.). A prototype system using an industrial robot has been implemented and used to demonstrate essential Junctiorzs.