Abstract
Wide angle cameras may be beneficial in minimally invasive laparoscopic and colorectal surgeries. Due to the extended range of the wide angle camera, conventional input devices may not be as effective in navigating around wide angle endoscopic views. In this paper we design and develop two input interfaces used for manipulating the views of a wide angle endoscopic camera. The interface is designed to be mounted on the master manipulators of a dVRK in an ergonomic position to allow the surgeon instantaneous access to both the robotic patient-side manipulators and the wide angle endoscopic view. Furthermore, the two interface devices are tested by novice users to examine the efficiency of control of the wide angle endoscopic view. Results show that the devices allow for effective movement across four degrees of freedom and can be used simultaneously with the master manipulator arms in a cohesive manner.
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Acknowledgment
The authors would like to thank Prof. Dr. Nikolaos Bonaros, Stephan Jäckel, Benigna Meussling, Andreas Ascher and Stefan Spiss for their advice and support in the development of this project.
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Mannion, J., Kim, Y. (2021). Manipulation of an Wide Angle Endoscope in Minimally Invasive Robotic Surgery and Training. In: Rauter, G., Cattin, P.C., Zam, A., Riener, R., Carbone, G., Pisla, D. (eds) New Trends in Medical and Service Robotics. MESROB 2020. Mechanisms and Machine Science, vol 93. Springer, Cham. https://doi.org/10.1007/978-3-030-58104-6_13
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DOI: https://doi.org/10.1007/978-3-030-58104-6_13
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