Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery

摘要

Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the insertion of one surgeon's hand inside the abdominal cavity. In this scenario, a robotic assistant can properly collaborate with the surgeon, working side by side with him/her. This paper presents a robotic system for this kind of technique, based on a cognitive architecture that makes possible an efficient collaboration with the surgeon, thanks to a better understanding of the environment and the learning mechanisms included. This architecture includes a hand gesture recognition module and two different autonomous movement of the robotic arms, one for the camera motion and the other for the tool movement. All of these modules take advantage of the cognitive learning mechanisms of the architecture, fitting their behavior to the current user and procedure.