Combined Endo- and Exoscopic Semi-robotic Manipulator System for Image Guided Operations

  • Stefanos Serefoglou
  • Wolfgang Lauer
  • Axel Perneczky
  • Theodor Lutze
  • Klaus Radermacher
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4190)


This paper describes the development of a robotic assistance system for image guided operations. To minimize operation time, a multimodal user interface enables freehand robotic manipulation of an extracorporeal stereoscopic digital camera (exoscope) and an endoscope. The surgeon thereby wears a head-mounted unit with a binocular display, a head tracker, a microphone and earphones. Different view positioning and adjustment modes can be selected by voice and controlled by head rotation while pressing a miniature confirmation button with a finger. Initial studies focused on the evaluation and optimization of the intuitiveness, comfort and precision of different modes of operation, including a user test with neurosurgeons in a virtual reality simulation. The first labtype of the system was then implemented and demonstrated in the operating room on a phantom together with the clinical partners.


Head Rotation Robotic Manipulator Virtual Reality Simulation Multimodal User Interface Image Guide Operation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Stefanos Serefoglou
    • 1
  • Wolfgang Lauer
    • 1
  • Axel Perneczky
    • 2
  • Theodor Lutze
    • 3
  • Klaus Radermacher
    • 1
  1. 1.Helmholtz Institute for Biomedical Engineering of the RWTH Aachen UniversityAachenGermany
  2. 2.Neurosurgical Department of the Johannes Gutenberg-University of MainzMainzGermany
  3. 3.Aesculap AG & CO.KGTuttlingenGermany

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