Abstract
The forceps robot and laparoscope robot for single-port-surgery have been developed in our previous study. The forceps robot is controlled by master slave control system using an input device Omega.7. Then, surgeon manipulates the Omega.7 with his both hands during the surgery. Therefore, he cannot manipulate the laparoscope robot with his hand. In this paper, a control method of the laparoscope robot without using hand is proposed. To this end, a biosignal acquisition headset, Emotiv EPOC, is used as an input device for the laparoscope robot. Three kinds of operator's face expression and two kinds of head movements of the operator are detected by the Emotiv EPOC. Then, operation method at the tip of the laparoscope is determined using these expressions and head movements. Thus, the target position of the tip of the laparoscope is given by operating the Emotiv EPOC. A control system of the tip position of the laparoscope is constructed based on the inverse kinematics of the laparoscope robot using the PID controller. In order to verify a usability of the proposed system, experiments on the view control with Emotiv EPOC were executed.
