Abstract
Recently, commercial master-slave manipulators have been used for minimally invasive surgery. This study develops immersive user interface for simpler and more intuitive manipulation compared with existing robotic surgery systems, such as da Vinci system. By using a 3-DOF master console, the human operator is able to control Augmented Reality-based surgical images using a 6-DOF slave robot holding an endoscope under the constraint of fulcrum point. The efficiency of the Augmented Reality-based surgical images is demonstrated, and experimental results confirm the accuracy of the manipulator control related to constraints of fulcrum point.
