Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery.

The purpose of this paper is to develop an autonomous tracking algorithm based on adaptive fusion kinematics method, the autonomous laparoscope control algorithm and adaptive fusion kinematics method are proposed for semi-autonomous surgery, focus on solving the problems of autonomous laparoscope field of view control for surgical robot system. A novel autonomous tracking algorithm is proposed. To realize more robust tracking, an adaptive fusion kinematics method based on fuzzy logic is proposed, the method adaptive associates the kinematics information of surgical robot system and the laparoscope information. The proposed methods are implemented on the laparoscopic minimally invasive surgical robot system which is developed by our laboratory. Two experiments are carried out, the results indicate that the accurate autonomous field of view control is achieved with the addition of laparoscope information, laparoscopic motion frequency is reduced, the methods can avoid the laparoscope continuous motion and ensure the stability of field of view. The proposed methods improve the intelligence level of surgical robot system.