Abstract
Complex teleoperative tasks, such as surgery, generally require human control. However, teleoperating a robot using indirect visual information poses many technical challenges because the user is expected to control the movement(s) of the camera(s) in addition to the robot’s arms and other elements. For humans, camera positioning is difficult, error-prone, and a drain on the user’s available resources and attention. This paper reviews the state of the art of autonomous camera control with a focus on surgical applications. We also propose potential avenues of research in this field that will support the transition from direct slaved control to truly autonomous robotic camera systems.
Highlights
In current robot-assisted surgery, the robotic system does not function with any amount of autonomy
Successful completion of the proposed research topics will help provide the foundation for intelligent robots that perform autonomous camera control in real time
Usable, and programmable surgical platforms that are sufficiently affordable for use in research and translate well to actual surgical platforms. This will allow mature research to have a streamlined path towards making a direct impact in real surgical robotic applications
Summary
In current robot-assisted surgery, the robotic system does not function with any amount of autonomy. A surgeon remotely controls one or more slaved mechanical arms using a master. This is known as teleoperation, which does not represent a truly intelligent/autonomous robotic system. The surgeon is encumbered by the need to manipulate the camera as well as the surgical instruments. We review autonomous camera control in the context of the generation of surgical robotics that goes beyond direct slaved control. We envision surgical robotic systems that understand the current task and can evaluate various inputs to intelligently generate movements that aid the surgeon
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