Development of a Novel Hand-eye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery*

The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through master-slave control under the guidance of laparoscope vision. As a mapping of the surgeon's hand-eye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel hand-eye coordination algorithm is proposed for the robot -assisted minimally invasive surgery (RMIS). Firstly, a novel cascade-calibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A hand-eye coordination algorithm is also proposed, which provides accurate master-slave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the hand-eye coordination for the RMIS.