Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery.
The purpose of this paper is to develop an autonomous tracking algorithm based on adaptive fusion kinematics method, the autonomous laparoscope control algorithm and adaptive fusion kinematics method are proposed for semi-autonomous surgery, focus on solving the problems of autonomous laparoscope fi...
| Publicado en: | Journal of Medical Systems Vol. 44; no. 1; pp. 1 - 14 |
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| Autores principales: | , , , |
| Formato: | algorithm equations & formulas research tables/charts Journal Article |
| Publicado: |
Springer Nature
Jan2020
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=141026227&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 141026227 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01485598 4N0 jtl: Journal of Medical Systems issn: 01485598 maglogo: N pubinfo: dt: Jan2020 vid: 44 iid: 1 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 141026227 141026227 141026227 10.1007/s10916-019-1460-9 141026227 ppf: 1 ppct: 13 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery. aug: au: Sun, Yanwen Pan, Bo Zou, Shuizhong Fu, Yili affil: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China sug: subj: Surgery, Laparoscopic Methods Robotic Surgical Procedures Methods Algorithms Evaluation Kinematics Human Surgery, Computer-Assisted Problem Solving Logic Image Processing, Computer Assisted Patient Safety Robotic Surgical Procedures Equipment and Supplies Surgery, Laparoscopic Equipment and Supplies Funding Source ab: The purpose of this paper is to develop an autonomous tracking algorithm based on adaptive fusion kinematics method, the autonomous laparoscope control algorithm and adaptive fusion kinematics method are proposed for semi-autonomous surgery, focus on solving the problems of autonomous laparoscope field of view control for surgical robot system. A novel autonomous tracking algorithm is proposed. To realize more robust tracking, an adaptive fusion kinematics method based on fuzzy logic is proposed, the method adaptive associates the kinematics information of surgical robot system and the laparoscope information. The proposed methods are implemented on the laparoscopic minimally invasive surgical robot system which is developed by our laboratory. Two experiments are carried out, the results indicate that the accurate autonomous field of view control is achieved with the addition of laparoscope information, laparoscopic motion frequency is reduced, the methods can avoid the laparoscope continuous motion and ensure the stability of field of view. The proposed methods improve the intelligence level of surgical robot system. pubtype: Academic Journal doctype: algorithm equations & formulas research tables/charts Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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