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An Application of Robot Arm for Dynamic Field of View Expansion During Laparoscopy

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Computer Aided Surgery

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Abstract

An expanding mosaic view is one of the possible solutions for narrow field of view during endoscopic surgery. The current work presents a system to create an expanding mosaic view of the video during laparoscopy where the laparoscope is held and moved by a customized robot arm.

Method: A robot arm held and panned the endoscope in different directions inside the abdominal cavity, and an expanding mosaic view was created by sequentially applying a set of algorithms during the laparoscopy video acquisition of the porcine abdominal cavity.

Results: The mosaic view during the laparoscopy was created with a video acquisition rate of up to 20 frames per second.

Conclusion: The presented system is a new approach for dynamic field of view expansion during laparoscopy.

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Acknowledgments

We would like to acknowledge NSC-Taiwan (National Science Council, Taiwan) for providing financial support to this research.

Disclosures

Dr. Atul Kumar: Nothing to disclose. Mr. Ching-Jen Wu: Nothing to disclose. Mr. Yen-Yu Wang: Nothing to disclose. Dr. Kai-Che Liu: Nothing to disclose. Mr. Anant Vemuri: Nothing to disclose. Dr. Chi-Hsiang Wu: Nothing to disclose. Dr. Hurng-Sheng Wu: Nothing to disclose. Jacques Marescaux: Nothing to disclose.

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Authors and Affiliations

  1. Chang Bing Show Chwan Memorial Hospital, No 6-1 Lugong Road, Lukang Township, 505, Changhua County, Taiwan, R.O.C

    Atul Kumar, Yen-Yu Wang, Ching-Jen Wu, Kai-Che Liu, Chi-Hsiang Wu & Hurng-Sheng Wu

  2. Medical Imaging Research Lab, Research Institute against Digestive Cancer (IRCAD)-Taiwan, No 6-1, Lugong Road, Lukang Township, Changhua County, 505, Taiwan, R.O.C

    Atul Kumar, Yen-Yu Wang, Ching-Jen Wu, Kai-Che Liu, Chi-Hsiang Wu, Hurng-Sheng Wu & Jacques Marescaux

  3. ASCLEPIOS, INRIA, Sophia Antipolis, France

    Anant Vemuri

  4. Research Institute against Digestive Cancer (IRCAD)-France, Strasbourg, France

    Jacques Marescaux

  5. National Changhua University of Education, Changhua, Taiwan, R.O.C

    Yen-Yu Wang

Authors
  1. Atul Kumar
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  2. Yen-Yu Wang
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  3. Ching-Jen Wu
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  7. Hurng-Sheng Wu
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  8. Jacques Marescaux
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Corresponding author

Correspondence to Kai-Che Liu .

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Editors and Affiliations

  1. Shinjyuku, Tokyo, Japan

    Masakatsu G. Fujie

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Kumar, A. et al. (2016). An Application of Robot Arm for Dynamic Field of View Expansion During Laparoscopy. In: Fujie, M. (eds) Computer Aided Surgery. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55810-1_9

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  • DOI: https://doi.org/10.1007/978-4-431-55810-1_9

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-55808-8

  • Online ISBN: 978-4-431-55810-1

  • eBook Packages: EngineeringEngineering (R0)

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