Sistema de captura de gestos con KINECT para la manipulación de robots quirúrgicos virtuales

Abstract

This article presents a gesture capture system for manipulating two virtual surgical robots. Gesture capture uses Kinect device to detect the movement of the user´s hand to move the surgical robots, and his right knee to change the needed surgical tools. This natural interface capture system is proved on a surgical simulator for laparoscopic, that has a holder endoscopic robot manipulated by a joystick, and two surgical robots that are guided by the Kinect device. Kinematics model is used to transform Kinect captured signals to articular movements for the robots. System is tested on a robotic cholecystectomy, allowing a more natural manipulation to the user.