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In this letter, we propose a new method to fully control complete 4-image-DoF manipulation of laparoscopic instruments [with remote center of motion (RCM) mechanism] based on the geometric features of a designed marker in a 2-D image. Our marker encodes the configuration of the instruments by computing geometric features among the projected image points from segmented areas in hue-saturation-value...
In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are typically controlled by manual/teleoperated...
A new robotic system which assists surgeons in manipulating the uterus manipulator during total laparoscopic hysterectomy is presented in this paper. The presented robotic system is of four degrees of freedom (DOF) which composed of a 3-DOF robotic uterus manipulator positioner and a 1-DOF motorized uterus manipulator. To ensure safety of the patient, actuated joints of the uterus manipulator are...
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