Development and evaluation of an autonomous camera control algorithm on the da Vinci Surgical System.

Background: Manual control of the camera arm in telerobotic surgical systems requires the surgeon to repeatedly interrupt the flow of the surgery. During surgery, there are instances when one or even both tools can drift out of the field of view. These issues may lead to increased workload and potential errors.

Towards the Implementation of an Autonomous Camera Algorithm on the da Vinci Platform.

Camera positioning is critical for all telerobotic surgical systems. Inadequate visualization of the remote site can lead to serious errors that can jeopardize the patient. An autonomous camera algorithm has been developed on a medical robot (da Vinci) simulator.

Task analysis of laparoscopic camera control schemes.

Background: Minimally invasive surgeries rely on laparoscopic camera views to guide the procedure. Traditionally, an expert surgical assistant operates the camera. In some cases, a robotic system is used to help position the camera, but the surgeon is required to direct all movements of the system.

Raman spectroscopy in the diagnosis of ulcerative colitis.

Introduction: At present, the diagnosis of ulcerative colitis (UC) requires the histologic demonstration of characteristic mucosal inflammatory changes. A rapid and noninvasive diagnosis would be of value, especially if it could be adapted to a simple rectal probe. Raman spectroscopy creates a molecular fingerprint of substances by detecting laser light scattered from asymmetric, vibrating, and chemical bonds.

Towards an autonomous robot for camera control during laparoscopic surgery.

Introduction: During laparoscopic surgery, the surgeon currently must instruct a human camera operator or a robotic arm to move the camera. This process is distracting, and the camera is not always placed in an ideal location. To mitigate these problems, we have developed a test platform that tracks laparoscopic instruments and automatically moves a camera with no explicit human direction.

Human performance in the task of port placement for biosensor use.

Background: We conducted a study of participants' abilities to place a laparoscopic port for in vivo biosensor use. Biosensors have physical limitations that make port placement crucial to proper data collection. A new port placement algorithm enabled evaluation of port locations, using segmented patient data in a virtual environment.

Optimized port placement for in vivo biosensors.

Background: We discuss the implementation of an automated port placement system for use with laparoscopic in vivo biosensors. Biosensors have physical limitations that make port placement crucial to proper data collection. The port placement process is prohibitively complex to execute optimally by human estimation.