内視鏡保持ロボット操作のための単眼SLAMによる頭部運動推定

抄録

The existing head tracking systems for the endoscope holding robot have problems of restricting the operator's movement or interfering with the operator. This research proposes a system that can measure the head motion by simply putting a device on the head. Using the system, we also constructed an operating system for the endoscope holding robot. The image obtained from the camera on the head is wirelessly transmitted to the external PC, and the ORB-SLAM is executed on the PC to compute the angular velocity and the translation velocity of the head. For the developed system, we evaluate the dynamic characteristics and the result shows the delay of the measurement was less than 50 ms within the range of actual operation, which is considered that this delay does not affect the operation. We also carried out an in vivo experiment using a pig and show the effectiveness of the developed system.