Mai Sugawara · Kaoru Kiyomitsu · Tatsuya Namae · Toshiya Nakaguchi ·
Norimichi Tsumura
Artificial Life and Robotics 2016 (accepted)
Abstract
We propose an optical projection system aimed at improving laparoscopic
surgery based on three-dimensional (3D) measurement that gives an effective
information for robotic-assisted surgery and computer-aided surgery. Laparoscopic
surgery, which involves the creation of small ports through the patient’s
body for the laparoscope and surgical instruments, such as clamp, is minimally
invasive and has generated a growing interest. There are techniques using
the stereo laparoscope to obtain depth information. Active sensing when
structured light is added to the laparoscope can reconstruct a 3D shape.
However, active sensing that requires projection devices for the structured
light leads to an increase in size. Large-sized projection and sensing
systems affect surgical procedures. The size of the system is also larger
than the size of port for the laparoscope. To remove the obstacle for the
surgery, it is important to design downsized systems. For active sensing
with the structured light, a small-size projection system is required to
use a small port for the laparoscope. Therefore, we built the optical projection
system toward downsizing the device to stereoscopic vision of the laparoscope
using mirrors, andwe show a new shape reconstruction method from its active
sensing. Our Experimental results demonstrate the effectiveness of this
proposed system and method.
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