Xinyi Yu, Yinkai Chen, Baiming Shi, Hao Zhuo, Libo Zhou, Yuye Ma, Yan Wei, Linlin Ou
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Design and Evaluation of an Omnidirectional Wheel-Driven Endoscope-Assisted Robotic System Based on Motion Capture Control
Background
In endoscopic surgery, surgeons collaborate with assistants to manipulate the endoscope and instruments, making it impossible to perform the surgery independently.
Methods
We propose an endoscopic assistive robot based on motion capture control, enabling surgeons to control the endoscope with one hand. The system uses cameras at the master end to capture real-time motion information from the marker accessory, determining the surgeon's intent. It then controls the robot at the slave end to simulate surgical delivery actions, enabling precise endoscopic positioning through master-slave mapping. The omnidirectional wheel design addresses coupling issues of traditional friction wheels, significantly improving control accuracy.
Results
Testing demonstrated a maximum delivery error of 3.99% and 45.77% improvement in rotational precision. The system received positive feedback in both simulated and animal trials.
Conclusions
The system empowers surgeons to perform endoscopic procedures independently, establishing a foundation for advancing diagnosis and treatment of gastric diseases.
期刊介绍：
The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
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