ROBOTIC OBSERVATION CAMERA FOR USE IN AN OPERATING ROOM

摘要

the telepresence system and observation camera robot developed at the campus.notre damethe hospital of the university of montreal, to helpthe remote monitoring of the activities of an operating room, and morespecifically for accessvarious views of the surgical site.the system is mainly composed of a manipulator to movehorizontally, a camera above the surgical site. the robotic arm iscoupled with acontrol system which acts on a camera in its distal part. the system ofcontrol ofthe camera has the ability to change the azimuth, inclination, horizontal length", as well asthe size of the field of observation. the system has 5 degrees offreedomallow more flexibility while remaining simple to use.the degree offreedom can be controlled independently.in order to simplify the teleprompt system, a robotic interfaceforce wasdeveloped to move the robotic arm to position the camera.the desired location.the interface is specialized in that it is possible to set constanttargetthe three-dimensional space in the operating room so that we move the camerain order to changefrom the point of view. the calculations of the parameters which the target and the point ofintended is toautomatically and almost in real time from the graphical user interface. theparameterskinematic equations are derived from the direct and inverserobotic system.