Automatic guidance of laparoscope based on the region of interest for robot assisted laparoscopic surgery

Figures & data

Figure 1. Surgical tasks: (a) peeling tissue and (b) intracorporeal knot tying.

Figure 2. Sketch map of region of interest: (a) region of interest and (b) judgment area.

Figure 3. Sketch map of surgical instruments motion in vertical direction (x_c - y_c plane).

Figure 4. The flow chart of laparoscopic automatic navigation.

Figure 5. Manipulator with laparoscope.

Figure 6. The visual process of simulation: (a) trajectory 1, (b) trajectory 2, and (c) trajectory 3.

Figure 7. The moving range of ROI: (a) trajectory 1, (b) trajectory 2, and (c) trajectory 3.

Table 1. The automatic navigation effect under different laparoscopic visual angle (unit: times).

Visual angle	0°	5°	10°	15°	20°	25°	30°	35°	40°	45°
Trajectory 1	3.3	3.2	3.0	3.2	3.1	3.1	3.0	3.0	3.1	3.4
Trajectory 2	2.8	3.1	3.4	3.1	3.2	3.3	3.4	3.5	3.9	3.8
Trajectory 3	2.0	2.1	2.0	2.2	2.1	2.0	2.2	2.4	2.7	2.6