Design and development of an effective low-cost robotic cameraman for laparoscopic surgery: RoboLens

摘要

A robotic system was designed and developed to perform the camera handling task during laparoscopic surgery. The system employs an effective low cost mechanism, with a minimum number of actuated DOFs, enabling spherical movement around a remote centre of motion positioned at the the insertion point of the laparoscopic stem. Kinematic analysis showed a high manipulability measure for the system, with the left/right movements directly governed by rotation of the first rotary actuator, and zoom and up/down movements by the simultaneous motions of the linear and second rotary actuators. A prototype of the robot was developed for practical use in an operating room environment. Hands-free operator interfaces were implemented for user control, including a voice command recognition system and a smart 6-button foot pedal. The technical and operational features of the system were evaluated using experimental examinations and then during clinical trials of laparoscopic cholecystectomy on human subjects. Results indicated a high trajectory following accuracy, low response time, sufficiently large workspace for surgeon and assistants, and a stable and properly oriented image. The system was found to be easy to set up and use, and contributed to a faster and more accurate surgical operation.