Development of a Novel Handeye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery * The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through masterslave control under the guidance of laparoscope vision. As a mapping of the surgeonu0027s handeye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel handeye coordination algorithm is proposed for the robot assisted minimally invasive surgery (RMIS). Firstly, a novel cascadecalibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A handeye coordination algorithm is also proposed, which provides accurate masterslave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the handeye coordination for the RMIS.

Cognitive Robotic Architecture for SemiAutonomous Execution of Manipulation Tasks in a Surgical Environment The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integration of multiple stateoftheart technologies. In this paper we propose a cognitive robotic architecture that is able to help an operator accomplish a specific task. The architecture integrates an action recognition module to understand the scene, a supervisory control to make decisions, and a model predictive control to plan collisionfree trajectory for the robotic arm taking into account obstacles and model uncertainty. The proposed approach has been validated on a simplified scenario involving only a da VinciO surgical robot and a novel manipulator holding standard laparoscopic tools.