IEEE Systems, Man and Cybernetics Magazine - July 2018 - 7

the integration between this
new VR-based surgica l ap proach and the traditional one,
thus promoting a new paradigm of surgical intervention.
In this article, we present a
three-dimensional (3-D) im mersive VR-based endoscopic
(IVRE) system to manage intrabody cavities and support
minimally invasive interventions. The IVRE system was tested in a simulated environment
with the support of skilled surgeons, who validated the im portance and advantages of
the new proposed paradigm.

©iStockphoto.com/Utovko

The IVRE System for
Minimally Invasive
Surgery
To suppor t the prev iously
introduced limits, Figure 1
shows the logical architecture of the IVRE system, de signed to improve the current
video-assisted surgery techniques. The IVRE system is
composed of a primary stereoscopic 3-D ca mera t hat
allows an endoscopic binocular vision, a secondary frontal stereoscopic 3-D camera
that allows the user to see
the real world surrounding
him or her, and a head-mounted display (HMD) for a VR immersive effect. It also uses a
head-tracking bundle of sensors for getting information
about the position of the head
of the user and a three-axis servo motor system to move
the endoscope tip. Data acquired from the sensors are
processed by head tracking and converted into correlated degrees for the three-axes motor system. At the
same time, the image stream is put side by side, distorted with a barrel effect, and sent to the display.
The secondary vision system allows the user to look
around without removing the HMD, thanks to a handtracking algorithm based on touchless technology.
By anchoring the body of the endoscope, the IVRE
system allows the user to control the camera movements with his or her head, enjoying a 3-D immersive
effect and avoiding motion sickness effect. Hands are
only needed for changing the video source in touchless mode.

act on the target organ or tissue by using other microsurgical instruments. Second, the surgeon must keep his or her
head turned toward the screen during the entire surgical
procedure. This practice is extremely uncomfortable and
does not allow the surgeon to observe any kind of detail
and nuance.
In the last two decades, immersive virtual reality (VR)
and human-computer interaction (HCI) have been used
successfully in different application areas (e.g., video surveillance [3]; process engineering [4], [5]; rehabilitation [6],
[7]; and others). Currently, the new challenge is to integrate
these technologies to support surgeons in exploring and
managing a target organ or tissue as if they were inside the
patient. In addition, some smart mechanical modifications
of the current minimally invasive instruments can facilitate

Ju ly 2018

IEEE SyStEmS, man, & CybErnEtICS magazInE

7



http://www.iStockphoto.com/Utovko

Table of Contents for the Digital Edition of IEEE Systems, Man and Cybernetics Magazine - July 2018

Contents
IEEE Systems, Man and Cybernetics Magazine - July 2018 - Cover1
IEEE Systems, Man and Cybernetics Magazine - July 2018 - Cover2
IEEE Systems, Man and Cybernetics Magazine - July 2018 - Contents
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 2
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 3
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 4
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 5
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 6
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 7
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 8
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 9
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 10
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 11
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 12
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 13
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 14
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 15
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 16
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 17
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 18
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 19
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 20
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 21
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 22
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 23
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 24
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 25
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 26
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 27
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 28
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 29
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 30
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 31
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 32
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 33
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 34
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 35
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 36
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 37
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 38
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 39
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 40
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 41
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 42
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 43
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 44
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 45
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 46
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 47
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 48
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 49
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 50
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 51
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 52
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 53
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 54
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 55
IEEE Systems, Man and Cybernetics Magazine - July 2018 - 56
IEEE Systems, Man and Cybernetics Magazine - July 2018 - Cover3
IEEE Systems, Man and Cybernetics Magazine - July 2018 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/smc_202310
https://www.nxtbook.com/nxtbooks/ieee/smc_202307
https://www.nxtbook.com/nxtbooks/ieee/smc_202304
https://www.nxtbook.com/nxtbooks/ieee/smc_202301
https://www.nxtbook.com/nxtbooks/ieee/smc_202210
https://www.nxtbook.com/nxtbooks/ieee/smc_202207
https://www.nxtbook.com/nxtbooks/ieee/smc_202204
https://www.nxtbook.com/nxtbooks/ieee/smc_202201
https://www.nxtbook.com/nxtbooks/ieee/smc_202110
https://www.nxtbook.com/nxtbooks/ieee/smc_202107
https://www.nxtbook.com/nxtbooks/ieee/smc_202104
https://www.nxtbook.com/nxtbooks/ieee/smc_202101
https://www.nxtbook.com/nxtbooks/ieee/smc_202010
https://www.nxtbook.com/nxtbooks/ieee/smc_202007
https://www.nxtbook.com/nxtbooks/ieee/smc_202004
https://www.nxtbook.com/nxtbooks/ieee/smc_202001
https://www.nxtbook.com/nxtbooks/ieee/smc_201910
https://www.nxtbook.com/nxtbooks/ieee/smc_201907
https://www.nxtbook.com/nxtbooks/ieee/smc_201904
https://www.nxtbook.com/nxtbooks/ieee/smc_201901
https://www.nxtbook.com/nxtbooks/ieee/smc_201810
https://www.nxtbook.com/nxtbooks/ieee/smc_201807
https://www.nxtbook.com/nxtbooks/ieee/smc_201804
https://www.nxtbook.com/nxtbooks/ieee/smc_201801
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_1017
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0717
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0417
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0117
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_1016
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0716
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0416
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0116
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_1015
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0715
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0415
https://www.nxtbook.com/nxtbooks/ieee/systems_man_cybernetics_0115
https://www.nxtbookmedia.com