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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Magnetically Activated Stereoscopic Vision System for Laparoendoscopic Single-Site Surgery
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Magnetically Activated Stereoscopic Vision System for Laparoendoscopic Single-Site Surgery

机译：腹腔镜内窥镜单部位手术的磁控立体视觉系统

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摘要

In this paper, the authors present an innovative vision platform for laparoendoscopic single-site (LESS) surgery based on a wired and magnetically activated 5-degrees-of-freedom robot with stereovision. The stereoscopic vision module, developed using two off-the-shelf cameras and a light emitting diodes lighting system, is mounted on the robot tip. An autostereoscopic screen is adopted to display the surgical scenario as an alternative to 3-D helmets or polarizing glasses. A rough position of the stereocamera can be determined along the abdominal wall by dragging the robot with a set of external permanent magnets (EPMs). Once the camera is set in the desired position, the EPMs provide fixation, while the internal mechanism allows fine tilt adjustment. Considering the deformable round shape of the insufflated abdomen wall and in order to replicate the precise roll motion usually provided by the endoscopist's hands, this prototype embeds an actuated mechanism that adjusts the stereocamera horizon and thus prevents any visual discomfort. Finally, the platform was preliminarily tested in vivo in a LESS scenario, demonstrating its advantages for eliminating potential conflicts with the operative tools and enabling the introduction of an additional instrument through the same access port used for stereoscopic vision.
机译：在本文中，作者提出了一种创新的视觉平台，该平台基于带有立体视觉的有线和磁激活5自由度机器人进行腹腔镜内窥镜单部位（LESS）手术。使用两个现成的摄像头和一个发光二极管照明系统开发的立体视觉模块安装在机器人末端。作为3D头盔或偏光眼镜的替代，采用自动立体屏幕显示手术情况。可以通过拖动带有一组外部永磁体（EPM）的机器人，沿着腹壁确定立体摄像机的大致位置。将相机设置在所需位置后，EPM会提供固定功能，而内部机构则可以进行精细的倾斜调整。考虑到吹气的腹部壁的可变形圆形形状，并且为了复制通常由内窥镜医师的手提供的精确侧倾运动，此原型嵌入了一种可调节立体摄像机视线并由此防止任何视觉不适的致动机构。最后，该平台已在LESS场景中进行了初步体内测试，展示了其消除与手术工具潜在冲突的优势，并能够通过用于立体视觉的同一访问端口引入其他仪器。

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