Revista de Ciencias Tecnológicas (RECIT). Volumen 3 (1): 10-22.
Revista de Ciencias Tecnológicas (RECIT). Universidad Autónoma de Baja California ISSN 2594-1925
Volumen 1 (1): 12-22 Julio-Septiembre 2018 https://doi.org/10.37636/recit.v111222.
12
ISSN: 2594-1925
A feedforward-moment-gyro-control for positioning
wirelessly light-source and wireless- camera in
laparoscopic instruments
Un control giroscópico de momento de avance para posicionar de forma
inalámbrica la fuente de luz y la cámara inalámbrica en instrumentos
laparoscópicos
Torres-Ventura José
1
, Reyna-Carranza Marco Antonio
1
, Rascón-Carmona Raúl
2
, Bravo-
Zanoguera Miguel Enrique
1
, López-Avitia Roberto
1
1
Cuerpo Académico de BioingenierÃa y Salud Ambiental. Instituto de IngenierÃa, Universidad Autónoma de Baja
California (UABC), Blvd. Benito Juárez y Calle de la Normal S/N,
Colonia Insurgentes Este C.P. 21280. Mexicali, Baja California, México.
2
Facultad de IngenierÃa de la UABC. Blvd. Benito Juárez y Calle de la Normal S/N, Colonia Insurgentes Este C.P.
21280. Mexicali, Baja California, México.
Corresponding author: Marco Antonio Reyna Carranza, Cuerpo Académico de BioingenierÃa y Salud Ambiental. Instituto
de IngenierÃa, Universidad Autónoma de Baja California (UABC), Blvd. Benito Juárez y Calle de la Normal S/N, Colonia
Insurgentes Este C.P. 21280. Mexicali, Baja California, México. E-mail: investigador.reyna@gmail.com. ORCID: 0000-0001-
9954-2958.
Recibido: 05 de Junio del 2017 Aceptado: 03 de Febrero del 2018 Publicado: 26 de Septiembre del 2018
Palabras clave: MÃnimamente Invasivo; Robot Cirujano; Adquisición de Datos; Control de Giro de Momento de Avance;
Transceptor Inalámbrico; LaparoscopÃa.
Keywords: Minimally Invasive; Robot Surgeon; Data Acquisition; Feedforward-Moment-Gyro-Control; Wireless
Transceiver; Laparoscopy.
Resumen. - En este artÃculo se presenta un sistema mecatrónico giroscópico, que ayuda al cirujano laparoscópico
a controlar de forma inalámbrica el zoom y la posición panorámica de una cámara y una fuente de luz, adaptadas a
un manipulador para cirugÃa mÃnimamente invasiva. El giroscopio adaptado al manipulador, genera una señal de
referencia utilizada por un control de lazo abierto. El sistema de cámara y fuente de luz, está montado sobre un
dispositivo electromecánico (brazo robótico) de tres grados de libertad (3DOF). El éxito se mide haciendo una
comparación de una señal de entrada a partir de los niveles de voltaje generados por un transductor con tecnologÃa
de sistemas micro-electro-mecánicos (MEMS), versus las señales para las posiciones angulares de dos servomotores
(trayectoria panorámica e inclinación) y el acercamiento o alejamiento de la cámara por un motor DC.
Abstract. - This article presents a gyroscopic mechatronic system, which helps the laparoscopic surgeon to
wirelessly control the zoom and panoramic position of a camera and a light source, adapted to a manipulator for
minimally invasive surgery. The gyroscope adapted to the manipulator generates a reference signal used by an open
loop control. The camera and light source system are mounted on an electromechanical device (robotic arm) with
three degrees of freedom (3DOF). Experiments performed with the system show good pan, tilt and zoom
performance of the camera and light source. Success is measured by comparing an input signal from the voltage
levels generated by a transducer with micro-electro-mechanical systems (MEMS), versus the signals for the angular
positions of two servo-motors (pan and tilt) and zooming in or out of the camera by a DC motor.
Revista de Ciencias Tecnológicas (RECIT). Volumen 1 (1): 12-22
13
ISSN: 2594-1925
1.
Introduction
Mechatronics has actively participated in the
rehabilitation of patients in about 10 % of the total
world population according to the World Health
Organization
(WHO)
[1
̶
3].
One of the elements widely used in medical
applications is transducers [4, 5], which are proposed
to support surgeons in the laparoscopic field. An
important topic addressed by this field is to move a
laparoscopic camera and light into the abdominal
cavity; the camera provides continuous video images
taken from the pelvic abdominal cavity of the patient.
Nowadays, the position control of camera and light is
achieved by using vision, voice and mechanical
interfaces. Some solutions to manipulate position in
this kind of instruments came from mechatronics
assistance with three degrees of freedom (PMAT) [6],
where a mechanical harness is placed over the
shoulders of the surgeon and provides the position for
the camera view. Another system is the robotic
camera assistant (EndoAssist) [7], where the surgeon
moves the laparoscopic camera through a helmet
equipped with an infrared light emitting diode (IR
LED) transmitter, which is in contact with an LED
receiver placed on a remote monitor. This system
allows changing the angle of a camera placed inside
the pelvic cavity of the patient.
Other methods, like those used in the automated
endoscopic system for the optimal position (AESOP)
and the KAIST laparoscopic assistant robot systems
(KALAR), use voice commands issued by the
surgeon [8, 9].
Another alternative used is the single port access
(SPA) [10], which consists of making a hole of 26 mm
of diameter below the navel through which an
independent camera is introduced and then controlled
from the outside by an electromagnetic field [11].
Another minimally invasive surgical robot is the
insertable robotic effector's platform (IREP) [12],
which is a wire-actuated wrist with a passive flexible
component arm that is introduced to manipulate the
trajectory of the laparoscopic camera and light [13].
Finally, the robotic cameraman is an industrial robotic
arm, whose end tip was adapted to provide video
images as it moves into the abdominal cavity of a
patient [14].
This paper presents a prototype mechatronic system
(i.e. a feedforward-moment-gyro-control) to move
wirelessly a laparoscopic wireless-camera and light-
source inside the abdominal cavity of a patient [15,
16].
2.
Methodology
2.1. Principles of the system
A feedforward-control is implemented to achieve the
reference position of the camera; this reference signal
is given by an electronic gyroscope mounted on a
laparoscopic grasper instrument. The surgeon decides
when to start or stop this task by pressing with the
thumb a force sensor (FSR) installed in the instrument
(i.e. grasper of 5 mm of diameter).
The mechanical prototype is supported on transducer
technology of micro-electro-mechanical systems
(MEMS), which involves a conversion of energy into
a voltage. Moreover, the output of the angular rate
sensor (i.e. gyroscope) is amplified and used as a
reference signal to move the camera on three different
axes: pan, tilt (both are rotational) and zoom
(translational).
The gyroscope has a sensitivity of 300 mV/°/s as
reported by their manufacturers. Some of these
control applications in the medical field can be
consulted in [17, 18]. Concerning the issue of security
related to radiate power levels for medical
instruments in the operating room, there are some
previous works that give some recommendations
[19‒22].
As shown in Figure 1, the process begins when the
surgeon presses with the thumb the FSR (Mod. FSR
402). If the surgeon does not press the FSR, the
laparoscopic instrument (i.e. the master manipulator)
is used as an instrument of standard surgery.