A novel flag-language remote control design for a laparoscopic camera holder using image processing

Kateryna Zinchenko, Wayne Shin Wei Huang, Kai Che Liu, Kai-Tai Song*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Minimally invasive surgeries(MIS) possess obvious advantages for patients but require more specially trained personnel than common, open procedure. With modern advances in robotics, it becomes possible to ease these requirements by introducing robotized assistants into operation. However, for robot-assisted solo MIS, it is crucial to have appropriate methods for robot control. This work presents a design of flag language as a novel human-to-robot communication method based on image processing of the endoscope video during real-time intervention. The proposed system comprises autonomous positioning of endoscope holder combined with recognition of surgeon intention by analyzing surgical instrument postures. The proposed algorithm has been evaluated using experimental setup as well as video clips from laparoscopic operation. Experimental results show that the flag posture can be detected satisfactorily with speed of 12 frames per second, as well as system robustness under moderate lighting and noise conditions.

Original languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages959-963
Number of pages5
ISBN (Electronic)9788993215090
DOIs
StatePublished - 23 Dec 2015
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 13 Oct 201516 Oct 2015

Publication series

NameICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Conference

Conference15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period13/10/1516/10/15

Keywords

  • Endoscope camera holder
  • image processing
  • surgical robotics

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