A telerobotic system for augmentation of endoscopic surgery

Abstract

We have hegun development of a telerobotic system to replace a human camera operator in endoscopic surgical procedures. The system will consist of a remote center-of-motion manipulator holding the endoscope; a computer workstation supporting image processing, graphics, manipulator control, and other functions; and a variety of man-machine interlaces (voice, instrumented joystick, etc.). A prototype system using an industrial robot has been implemented and used to demonstrate essential functions.