Reducing Workload During Brain Surgery with Robot-Assisted Autonomous Exoscope
Elisa Iovene,Alessandro Casella,Junling Fu,Federico Pessina,Marco Riva,Giancarlo Ferrigno,Elena De Momi,Elisa Iovene,Alessandro Casella,Junling Fu,Federico Pessina,Marco Riva,Giancarlo Ferrigno,Elena De Momi
In this paper, a position-based visual-servoing control approach is introduced for a robotic camera holder to improve ergonomics and reduce mental stress during brain surgery. The visual tracking system controls and moves the robotic camera holder by following a selected surgical instrument without the need for artificial markers. The system was validated using a 7 Degree-of-Freedoms (DoFs) redund...
