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 Bioingeniería y Salud Ambiental. Instituto de Ingeniería, 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 Ingeniería 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 Bioingeniería y Salud Ambiental. Instituto
de Ingeniería, 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: Mínimamente Invasivo; Robot Cirujano; Adquisición de Datos; Control de Giro de Momento de Avance;
Transceptor Inalámbrico; Laparoscopía.
Keywords: Minimally Invasive; Robot Surgeon; Data Acquisition; Feedforward-Moment-Gyro-Control; Wireless
Transceiver; Laparoscopy.
Resumen. - En este artículo 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 cirugía mínimamente 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 tecnología
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
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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.
Revista de Ciencias Tecnológicas (RECIT). Volumen 1 (1): 12-22
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Figure 1. Master/slave feedforward control process to position laparoscopic camera and light.
2.2. Laparoscopic vision system
Figure 2 represents in blocks: (1) transceiver [23]
gyroscope board (ADXL335), which is mounted on a
laparoscopic instrument (disposable monopolar
scissor, 17 mm blade); (2) 3DOF robotic arm, which
is composed by a control board (ATmega2560), two
servomotors (SA-1283SG), and one gear motor
(MTS50-Z8); (3) wireless white-light mini-camera
(type: pin hold lens, 12 volts, 2.4 GHz, 628 x 582
pixels) mounted on the tip of a laparoscopic
instrument (type: 5 mm needle driver, Mod. Da Vinci
400117 Endowrist instrument) as shown in Figures 3
and 4; and (4) Liquid Crystal Display (LCD) monitor
(Mod: 32” HD Plano TV FH4005 Series 4) with
wireless video input (AV-IN) for reception of images
that come from the wireless laparoscopic camera. The
images are transmitted from the laparoscopic camera
to the LCD monitor using the radio frequency (RF)
channel 2 at 2.49 GHz. The laparoscopic instrument
(master manipulator) communicates with the 3DOF
robotic arm (slave manipulator) using the standard
IEEE 802.15.4 [24 ‒ 26] by the RF channel 1 at 2.68
GHz.
Figure 2. The surgeon controls the orientation of the master manipulator (1), which sends wirelessly the commands to the robotic arm (2)
via the RF channel 1; at the same time the wireless-camera (3), which is inside the patient, sends the video images to the LCD monitor (4)
via the RF channel 2.
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2.3. Laparoscopic master manipulator
Figure 3 shows a traditional laparoscopic instrument
(5 mm scissor), which was modified by adding a
gyroscope on it.
When the instrument rotates, the transducer detects
the angle of motion and converts it into a voltage
signal command, as shown in Figure 4.
Figure 3. The master manipulator was modified to insert an FSR. The surgeon can press using the thumb to start or stop the remote position
of the trajectory of the laparoscopic wireless-camera.
2.4. Slave manipulator dynamic model
Given that the manipulator of 3DOF is represented by
the rectilinear motion 𝑞
1
∈ ℝ and 2 angular motions
𝑞
2
∈ ℝ, 𝑞
3
∈ ℝ, where 𝑞
1
stands for the zoom, 𝑞
2
is the
tilt displacement and 𝑞
3
is the pan displacement as
depicted in Figure 5, according to the modelling
procedure of the Lagrange equations of motion [27].
Firstly, let us compute the kinetic energy of the
manipulator, which is given by:
𝑘
(
𝑞, 𝑞̇
)
=
1
⁄
2
[𝑚
1
𝑞
1
̇ + 𝑚
2
𝑞̇
2
+ 𝑚
3
𝑞̇
3
] (1)
Figure 4. A 3DOF mechanical arm (left). The spherical coordinate system was introduced to better illustrate the motion of pan, tilt, and zoom
within the abdomen of the patient. It is not necessary any conversion between coordinate systems (right).
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Moreover, the manipulator is not affected by gravity, therefore the potential energy is:
𝑈
(
𝑞
)
= 0 (2)
From eq. (1) and (2) we can compute the Lagrangian
𝐿
(
𝑞, 𝑞̇
)
= 𝐾
(
𝑞, 𝑞̇
)
− 𝑈 (𝑞)
=
1
⁄
2
[𝑚
1
𝑞̇
1
+ 𝑚
2
𝑞̇
2
+ 𝑞̇
3
] (3) We have that
∂L/ (∂𝑞
1
) = ∂L/ (∂𝑞
2
) = ∂L/ (∂𝑞
3
) = 0
∂L/ (∂𝑞
1
̇ ) = 𝑚
1
𝑞
1
̇
∂L/ (∂𝑞
2
̇ ) = 𝑚
2
𝑞
2
∂L/ (∂𝑞
3
̇ ) = 𝑚
3
𝑞
3
̇
d/dt [∂L/ (∂𝑞
1
̇ )] = 𝑚
1
𝑞
1
Figure 5. The slave manipulator: 3DOF robotic arm with a camera on the end effector.
d/dt [∂L/ (∂𝑞
2
̇ )] = 𝑚
1
𝑞
2
̈d/dt [∂L/ (∂𝑞
3
̇ )] = 𝑚
1
𝑞
3
̈
The Lagrange equations of motion for the manipulator are given by:
d/dt [∂L (𝑞,𝑞̇)/ (∂𝑞̇)] - ∂L (𝑞,𝑞̇)/∂𝑞 = 𝜏 (4)
where 𝑞 =
[
𝑞
1
𝑞
2
𝑞
3
]
𝑇
∈ ℝ
3
and the control input is 𝜏 = [ 𝜏
1
𝜏
2
𝜏
3
]
𝑇
∈ ℝ
3
, or equivalently
d/dx [∂L (𝑞,𝑞̇)/ (∂𝑞̇
𝑖
)] - ∂L (𝑞,𝑞̇ )/ (∂𝑞
𝑖
) = 𝜏
𝑖
, 𝑖 = 1, 2, 3. (5)
The dynamic model of the system in joint space coordinates is as follows:
𝑞
𝑞
𝑑/𝑑𝑡 [
𝑞̇
] = [
𝜏/𝑚
] (6)
with 𝑞 =
[
𝑞
1
, 𝑞
2
, 𝑞
3
]
𝑇
∈ ℝ
3
, 𝜏 = [ 𝜏
1
, 𝜏
2
, 𝜏
3
]
𝑇
∈ ℝ
3
and [ 𝑚
1
, 𝑚
2
, 𝑚
3
]
𝑇
∈ ℝ
3
, we will have an infinite number of
equilibrium points:
[𝑞
1
𝑞
2
𝑞
3
𝑞
1
̇ 𝑞
2
̇ 𝑞
3
̇ ]
𝑇
= [𝑆
1
𝑆
2
𝑆
3
0 0 0 ]
𝑇
Being S
1
= q
1
(
0
)
, S
2
= q
2
(
0
)
, S
3
= q
3
(
0
)
∈
ℝ, the control input τ ∈ ℝ
3
is given by the gyroscope
and the strain gauge mounted on the laparoscopic
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ISSN: 2594-1925
grasper as is shown in Figure 3.
2.5. Feedforward control
The surgeon, when using the master manipulator
instrument, would have a limited working space due
to the wrist of the hand plus the small dimension of
the 5-mm diameter hole of the patient. Hence, the
rotation over coordinates x, y and z are restricted from
0 to 90 degrees for each axis (-α to α, -β to β, and -θ
to θ respectively). Furthermore, the slave manipulator
(i.e. laparoscopic wireless-camera) has a working
space in spherical coordinates restricted from 0 to 90
(-φ to φ, -θ to θ) as depicted in Figure 3; the
differences and restrictions are shown in Table 1A.
The relationship between the z axis in the Cartesian
system and the r axis in the Spherical system is shown
in Table 1B.
Table 1. Relationship of the Cartesian and Spherical system: (A) Pan and tilt trajectory. (B) Zoom trajectory.
Table 2. Encoding structure to position servomotors on the 3DOF robotic arm.
Table 3. Encoding structure to position the dc gear motor on the 3DOF robotic arm
2.6. Master manipulator board
The gyroscope was adjusted to measure the
orientation around the x-axis from -45 to 45 degrees,
around the y-axis from -45 to 45 degrees and around
the z-axis from 45 to -45. An algorithm was
developed to position the wireless-camera and light
considering protocol shown in Table 2 and Table 3.
2.7. Data acquisition system for master manipulator
To assess the matches of the position of laparoscopic
wireless-camera and light versus the orientation of the
gyroscope, we collected the proportional output
voltage from the x, y, and z-axes of the gyroscope and
converted this into a digital signal with a
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microcontroller [28]. The ATmega326 supports 10
bits of resolution and was adjusted to 3.3 V as a
reference voltage. Therefore, 3.29 V (LSB *
1023) is, in theory, the maximum voltage
available. Thus, the error can be expressed as
0.097 % (0.00323 V * 100 / 3.3 V).
3. Results
Figure 6 shows how the trajectory position of the
servomotor is controlled. These results are
representative for both angular displacements 𝑞
2
and 𝑞
3
, but only one (pan) is reported.
3.1. Servomotor rotation degrees for pan and tilt
The servomotors that control the movement of pan
and tilt properly do not have an encoder, so a
mechanism was adapted to take the readings, using an
incremental type DC encoder with resolution of 100
rpm at 5 V. In the same way in Figure 6 it is observed
that the operating voltage of the x-axis of the
gyroscope lies within the limits of the aforesaid
theoretical voltage.
Figure 6. (A) Upper line is the voltage level from gyroscope output (1.4 V). The lower line is the pulse width (0.6 ms) at the ADC output,
which positions the servomotor on the -13 degrees. (B) The upper line is the voltage level from gyroscope output (1.0 V). The lower line is
the pulse width (1.0 ms) at the ADC output, which positions the servomotor on the 13 degrees. (C) The upper line is the voltage level from
gyroscope output (1.98 V). The lower line is the pulse width (1.5 ms) at the ADC output, which positions the servomotor on the 42 degrees.
3.2. The zoom trajectory from DC gear motor
The data logger records the voltage signal around the
z-axis. Figure 7 shows that when the orientation of the
gyroscope is less than 75 degrees, the zoom is moving
down; when the gyroscope is greater than 125
degrees, the zoom is moving up; and when the
gyroscope rotates between 76 and 124 degrees, the
zoom is stopping.
The rectilinear motion 𝑞
1
zooms the laparoscopic
wireless-camera.
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Figure 7. Data logging for reference tracking using the linear motor MTS50-Z8, which was used for the zooming motion.
4. Discussion
According to the results obtained by the DAQ system
to assess the position of the laparoscopic camera and
light, we analyzed and displayed the error through the
process of conversion by the ADC system as shown
in Figure 8. For instance, for a voltage of 1.98 V in the
x-axis of the gyroscope, we had a response of 45° in
the servomotor.
Figure 8. (a) Data logger for the response of servomotor rotation degree, the vertical axis is the position in degrees; it can be seen how it
decreases as sampling rate increases. (b) The gyroscope x-axis output signal, it can be observed that the voltage corresponding to the x-axis
decreases as the sampling rate increases.
The present study showed that the position of a
laparoscopic camera and light (slave manipulator)
inside the abdomen of a patient can be controlled by
the surgeon with a laparoscopic instrument (master
manipulator). Also, showed that 300 mV/°/s of
gyroscope sensitivity is enough to guide the pan and
tilt view of the camera and light. Considering that at
lower sensitivity we get lower resolution, we will
estimate with Eq. 7 the absolute error and with Eq. 8
the scientific error.
∑
𝑛
|
𝑥
𝑖
−
𝑋
̅
|
communication by the module RF NRF24L01 does
not affect the response of the gear dc motor and the
servomotor, due to the fact that this signal is used as
a reference for both actuators.
𝑒
=
𝑖
=1
𝑁
(7)
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ISSN: 2594-1925
5. Conclusion
Where:
𝑋 = 𝑋̅ ± 𝑒 (8)
In this work, it was shown that a surgeon can modify
the trajectory of a laparoscopic camera and
𝑥
𝑖
= Sensitivity mV/°/s
𝑋
̅
= Mean.
n = Total Reading.
X = Scientific Error.
In this way, the absolute error e = 0.20 is estimated;
which represented in terms of scientific error has an
error in the range of 1,089 ‒ 1,289, which represents
a degree of positive sensitivity. The behavior of the
experiment is shown in Figure 9.
Figure 9. Readings were taken by the DAQ as a function of the proportional voltage of the x-axis in degrees.
In addition, the results of the experiments show that
when entering an FSR sensor to select between two
different steps that represent two different spatial
planes (with x and y coordinates), we can send
information in the first step to the servomotors for pan
and tilt motion, and the second step to send
information to gear dc motor for the zoom motion.
Finally, the accuracy of the digitizing process of the
output voltage for the x-axis of the gyroscope, versus
the response of the electromechanical actuators
(servomotors and gear motor), was demonstrated by
the data record that represents the output voltage at
the microcontroller AT mega328. The signal sent
through the path of wireless light using a laparoscopic
instrument with an embedded board containing a
gyroscope. The surgeon decides when to move the
laparoscopic camera in three axes (pan, tilt, and
zoom). The three axes can move back and forward.
Although a feedforward control system cannot correct
the errors that could be generated, nor compensate the
perturbations affecting the system, nonetheless, some
advantages of using this type of control are its
simplicity of implementation and low cost.
Acknowledgments
Thanks to Universidad Autónoma de Baja California
and CONACYT for the support of this work.
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ISSN: 2594-1925
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