Laser-pointing endoscope system for intra-operative 3D geometric registration

Mitsuhiro Hayashibe, Yoshihiko Nakamura

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including a liver, intraoperative geometric measurements play an essential role in computer surgery in addition to pre-operative geometric information from CT, MRI and so on. We developed a laser-pointing endoscope using an optical galvano scanner and a 955fps high-speed camera. The laser-pointing endoscope system acquires and visualizes the shape of the area of interest in a flash of time. Applications of the system also include the touch screen interface for non-master-slave operation of surgical robots, where the 3D coordinates of the touched point on screen are measured by the system and guide a robot. Results of in-vivo experiments on a liver of pig verify the effectiveness of the proposed system.

Original languageEnglish
Pages (from-to)1543-1548
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2001
Externally publishedYes


  • 3D geometry
  • Endoscope
  • Laser scanner
  • Medical robotics
  • Minimally invasive surgery

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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