視線導引腹腔鏡機器人控制系統設計及其人機互動

Abstract

在執行腹腔鏡手術時，拿著腹腔鏡的助手會為外科醫生調整影像的視野，以使醫生有適當的視野。但是，如果可以節省人力並為外科醫生創造更多的工作空間，它將為他們提供更好的工作環境。借助將外科醫生的凝視點作為控制內視鏡機器人的方法，它可以解決助手操作腹腔鏡時所會產生的問題。 因此，本研究開發了在基於手術房之長距離的設置下，以凝視點作為系統的輸入來控制的腹腔鏡機器人。使用者界面的設計是基於人的行為和進行肝臟手術的外科醫生的建議。另外，系統中引入的速度控制器可以使外科醫生憑自己的注視點直觀地調整內視鏡的位置，在進行手術時滿足影像的需求。

During the laparoscopic surgery, the assistant who holds the endoscope adjusts the view of image for the surgeon to have an appropriate view to conduct the surgery. However, if the manpower can be saved and create more workspace for the surgeons, it will make a better working environment for them. With the help of using the surgeon’s gaze points as the command for controlling the endoscopic robot, it can solve the problems that may arise when the assistant operates the laparoscope. Therefore, using gaze points as an input to control the laparoscopic robot based on the setting of the long distance in the operating room is developed in this research. The design of the user interface is based on human factors and advices of the surgeon who conduct the liver surgery. Furthermore, the velocity controller introduced in the system can make surgeons intuitively adjust the position of the endoscope with their own gaze points to satisfy the need of the image while doing the surgery.