Intuitive endoscopic robot master device with image orientation correction.

Abstract

The camera of an endoscope is fixed to the device, and the image rotates together with the endoscope. This can lead to visual confusion for the user and incorrect image reading. The problem also occurs with endoscopic robots. Using a master device with the same degrees of freedom as the endoscope to control an endoscopic robot causes visual-motor misorientation, making intuitive control difficult. The roll misorientation between the image and master device handle was removed by measuring and correcting for the roll axis displacement of the master device. This enabled intuitive manipulation of the master device. The work speed and number of mistakes were experimentally measured with and without image correction. The tasks were completed significantly faster and more accurately with image orientation correction than without. The proposed method enables intuitive manipulation of the master device by correcting the image orientation in endoscopic robot control.