Proposal for the Appropriateness of Endoscopic Images based on the Use of Binocular Visual Space

DOI
  • TANAKA ATSUKI
    Department of Biomedical Engineering, Graduate School of Science and Technology, Shinshu University
  • IWAMOTO NORIYASU
    Department of Mechanical Engineering and Robotics, Faculty of Textile Science and Technology, Shinshu University
  • KAWAI TOSHIKAZU
    Department of Robotics, Graduate School of Robotics and Design, Osaka Institute of Technology
  • SUZUKI HISASHI
    Department of Information and System Engineering, Faculty of Science and Engineering, Chuo University
  • KATAI HITOSHI
    Department of Gastric Surgery, National Cancer Center Hospital
  • NISHIKAWA ATSUSHI
    Department of Mechanical Engineering and Robotics, Faculty of Textile Science and Technology, Shinshu University

Bibliographic Information

Other Title
  • ステレオ内視鏡把持ロボットの自律制御に向けた視空間と関節空間の線形近似仮説に基づく視野評価指標の提案

Abstract

<p>We focus on the fact that human body kinematic structure leads to the linearity between a binocular visual space and a joint space, and propose a novel criterion for evaluating the appropriateness of endoscopic images. Then, we aim to establish a new autonomous endoscope positioning method based on that criterion. In this study, we first assumed that the stereo endoscope robot was regarded as virtual binocular eyes of the surgeon and the surgical instruments were regarded as virtual arms connecting the surgeon's real arms. We then made a hypothesis that the surgeon or the camera assistant operated the endoscope such that the binocular visual space coordinates of the tip of the surgical instrument and the joint angles of the surgeon's arm had a linear relationship. </p>

Journal

Details 詳細情報について

  • CRID
    1390001288070520704
  • NII Article ID
    130007483955
  • DOI
    10.11239/jsmbe.annual56.s376
  • ISSN
    18814379
    1347443X
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

Report a problem

Back to top