1A2-L02 Development of an Automatic Endoscope Positioning System Based on Biological Fluctuation

Abstract

Endoscopic surgery is minimally invasive and presents many advantages for the patients such as reduced pain, small scar, and quick recovery. However, it has a problem such as difficulties in cooperation between the surgeon who mainly operates surgical instruments and the camera assistant who operates the endoscope. To solve this problem, the automatic endoscope positioning system that holds and automatically operates the endoscope instead of the human camera assistant has been actively studied all over the world. However, it is difficult to make an accurate model of actual endoscope operation during surgery. In this paper, we propose a novel endoscope positioning algorithm inspired by biological systems dynamics. Moreover, we propose an evaluation function in which an actual endoscopic procedure is appropriately reflected through gallbladder removal simulations, and a new algorithm is completed.