Foot-controlled endoscope positioner for laparoscopy: development of the master and slave interfaces

Elahe Abdi, Mohamed Bouri, Jeremy Olivier, Hannes Bleuler

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

12 Citations (Scopus)


In operating rooms, communication errors between the surgeons and assistants may be a source of inefficiency or error. In laparoscopic surgery, the endoscopic camera is an essential device, usually held by a human, and, why not, by a robotic assistant. In this paper, a novel four-DoF isotonic foot interface for controlling an endoscope positioner is proposed, featuring two rotational and two translational DoFs of the foot. To have an intuitive control paradigm with minimum confusion for the user, the foot movements match the positioner movements in direction. The Thales delta robot is chosen as the slave. The robot's design is modified to provide the necessary four DoFs. Initial tests confirm the functionality of the proposed master-slave endoscope positioner system.

Original languageEnglish
Title of host publication2016 4th RSI International Conference on Robotics and Mechatronics (ICRoM 2016)
EditorsAghil Yosefi Koma
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages5
ISBN (Electronic)9781509032228
ISBN (Print)9781509032235
Publication statusPublished - 24 Mar 2017
Externally publishedYes
EventRSI International Conference on Robotics and Mechatronics 2016 - University of Tehran, Tehran, Iran
Duration: 26 Oct 201628 Oct 2016
Conference number: 4th


ConferenceRSI International Conference on Robotics and Mechatronics 2016
Abbreviated titleICRoM 2016


  • foot interface
  • laparoscopic surgery
  • master-slave system
  • robot

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