چكيده به لاتين
The developments in medicine, engineering, and computer science caused increases in the propensity to laparoscopic surgery and the number of surgical robots in the operating rooms day by day; thus, the necessity to interact between surgeon and robot is significantly essential. Considering workspace restrictions and the importance of maintaining sterility in the operating rooms, the presence of contact-less user interfaces is of paramount importance in order to establish efficient interaction between the surgeon and surgical robot. In this study, a vision-based contact-less user interface named Leap Motion Controller was studied which is able to track position, velocity, and orientation of the surgeon’s hand and detect gestures and movements of each finger and then, transmit data to the computer. Afterward, a surgical robot arm was controlled using LM’s received data which was classified through programming. The telesurgery can be operated by using this controller beside a surgical robot. In addition to the mentioned capabilities for LM, some characteristics such as low price (about 80 €), acceptable accuracy (approximately 0.1 mm), and high-rate data collecting and processing (more than 100 fps) have made this device utilizable and efficient. In this thesis, surgical robotic systems and natural human-computer user interfaces were introduced. The sensor characteristics, the way to set up the controller, some examples of Leap Motion utilization in the operating rooms, and the advantages and disadvantages of the sensor were investigated as well. Afterward, the displacement of the hand’s palm center was set as a criterion for the displacement of the 5-DOF surgical robot simulator end-effector. Moreover, the angle forms between thumb and index finger was used as a command to open or close the laparoscopic grasper. After conducting a robotic experiment to control a robot by following a hand path using LM, which produced error with a maximum of 6.19%, the effects of system input noises were minimized by the implementation of Kalman Filter. Finally, the conclusion of the study and some suggestions for future tasks were represented.
