3D-vision and robotic control in laparoscopic surgery

During open surgery the surgeon have a direct view of the tissue. In laparoscopic surgery the image usually is presented on a 2D-monitor some feets away from the table and a nurse or assistant surgeon control the camera. The surgeon loose the sense of depth and the direct control of the direction of view. We try to reduce these limitations by using a Head-Mounted-Display and a robotic camera-manipulator. The robot manipulator, from Armstrong Healthcare Ltd., is controlled by the head movements of the surgeon. The position sensor is placed on the HMD and makes the camera move in the direction the surgeon is looking. The HMD has see-trough possibilities and an open field of view to both the sides and down, herby the surgeon is able to see his own hands and the OR staff. To get a 3D image we used a 3D laparoscope from Olympus. The setup was tested on a cholecystectomy. The result was promising but the system has to be improved to be really useful: The image resolution has to be better and the movement of the robot should be smoother.