Eslamian Shahab, Reisner Luke A, King Brady W, Pandya Abhilash K
Department of Electrical and Computer Engineering, Wayne State University, Detroit, MI.
Department of Pediatric Surgery, Children's Hospital of Michigan, Detroit, MI.
Stud Health Technol Inform. 2016;220:118-23.
Camera positioning is critical for all telerobotic surgical systems. Inadequate visualization of the remote site can lead to serious errors that can jeopardize the patient. An autonomous camera algorithm has been developed on a medical robot (da Vinci) simulator. It is found to be robust in key scenarios of operation. This system behaves with predictable and expected actions for the camera arm with respect to the tool positions. The implementation of this system is described herein. The simulation closely models the methodology needed to implement autonomous camera control in a real hardware system. The camera control algorithm follows three rules: (1) keep the view centered on the tools, (2) keep the zoom level optimized such that the tools never leave the field of view, and (3) avoid unnecessary movement of the camera that may distract/disorient the surgeon. Our future work will apply this algorithm to the real da Vinci hardware.
摄像头定位对所有远程机器人手术系统都至关重要。远程手术部位可视化不足可能导致严重错误，危及患者安全。在医疗机器人（达芬奇）模拟器上开发了一种自主摄像头算法。经发现，该算法在关键手术场景中表现稳健。对于摄像头臂相对于工具位置的情况，该系统的行为具有可预测性和预期性。本文描述了该系统的实现。该模拟紧密模拟了在实际硬件系统中实现自主摄像头控制所需的方法。摄像头控制算法遵循三条规则：（1）使视野以工具为中心；（2）保持变焦水平优化，使工具始终不离开视野；（3）避免摄像头进行可能分散外科医生注意力/使其迷失方向的不必要移动。我们未来的工作将把该算法应用于实际的达芬奇硬件设备。
