Theoretical basis for camera control in teleoperating

Background: The triangle paralaxis method for camera control in teleoperating is presented.Methods: For orientation in the 3D space of the corporic cavity there are three points necessary for the creation of the paralaxis triangle. This triangle is then imagined and compared with topography during surgery. The first and second points are created in one's mind at the locus of the entry of the instruments into the viewing field of the camera. The third apex of the triangle is the area of dissection—the point in which the instruments converge. The fourth point to be viewed determines the course of dissection. Triangle paralaxis may be applied in dissection with only one instrument as well as in the zooming technique, closely viewing a part of the dissecting instrument.Results: Using this technique a 7.78% rate of conversion and 2.15% rate of reoperation could be achieved in 334 evaluated laparoscopic cholecystectomies performed in a small public hospital.Conclusions: Triangle paralaxis seems to be a simple method for ensuring an optimal camera view during laparoscopic surgery.