A novel perception framework for automatic laparoscope zoom factor control using tool geometry

Yan Jun Yang, Arvind N. Vadivelu, Charles H.C. Pilgrim, Dana Kulic, Elahe Abdi

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)

Abstract

In conventional Minimally Invasive Surgery, the surgeon conducts the operation while a human or robot holds the laparoscope. Laparoscope control is returned to the surgeon in teleoperated camera holding robots, but simultaneously controlling the laparoscope and surgical tools might be cognitively demanding. On the other hand, fully automated camera holders are still limited in their performance. To help the surgeon to better focus on the main operation while maintaining their control authority, we propose an automatic laparoscope zoom factor control framework for Robot-Assisted Minimally Invasive Surgery. In this paper, we present the perception section of the framework. It extracts and uses the surgical tool's geometric characteristics to adjust the laparoscope's zoom factor, without any artificial markers. The acceptable range and tooltip's position frequency during operations are analysed based on the gallbladder removal surgery dataset (Cholec80). The common range and tooltip's heatmap are identified and presented quantitatively.

Original languageEnglish
Title of host publication43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society 
EditorsJoaquin Azpiroz, Roberto Lavarello
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages4700-4704
Number of pages5
ISBN (Electronic)9781728111797, 9781728111780
ISBN (Print)9781728111803
DOIs
Publication statusPublished - 2021
EventInternational Conference of the IEEE Engineering in Medicine and Biology Society 2021 - Online, Mexico
Duration: 1 Nov 20215 Nov 2021
Conference number: 43rd
https://embc.embs.org/2021/ (Website)
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9629355/proceeding (Proceedings)

Publication series

NameProceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2375-7477
ISSN (Electronic)2694-0604

Conference

ConferenceInternational Conference of the IEEE Engineering in Medicine and Biology Society 2021
Abbreviated titleEMBC 2021
Country/TerritoryMexico
CityOnline
Period1/11/215/11/21
Internet address

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