A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments

José Torres-Ventura; Marco Antonio Reyna-Carranza; Raúl Rascón-Carmona; Miguel Enrique Bravo-Zanoguera; Roberto López-Avitia

doi:10.37636/recit.v111222

Authors

José Torres-Ventura Academic Body of Bioengineering and Environmental Health. Institute of Engineering, Autonomous University of Baja California (UABC), Blvd. Benito Juárez and Calle de la Normal S / N, Colonia Insurgentes Este C.P. 21280. Mexicali, Baja California, Mexico https://orcid.org/0000-0003-3836-4697
Marco Antonio Reyna-Carranza Academic Body of Bioengineering and Environmental Health. Institute of Engineering, Autonomous University of Baja California (UABC), Blvd. Benito Juárez and Calle de la Normal S / N, https://orcid.org/0000-0001-9954-2958
Raúl Rascón-Carmona UABC Faculty of Engineering. Blvd. Benito Juárez and Calle de la Normal S / N, Colonia Insurgentes Este C.P. 21280. Mexicali, Baja California, Mexico. https://orcid.org/0000-0002-9968-3029
Miguel Enrique Bravo-Zanoguera Academic Body of Bioengineering and Environmental Health. Institute of Engineering, Autonomous University of Baja California (UABC), Blvd. Benito Juárez and Calle de la Normal S / N, https://orcid.org/0000-0003-1227-9726
Roberto López-Avitia Academic Body of Bioengineering and Environmental Health. Institute of Engineering, Autonomous University of Baja California (UABC), Blvd. Benito Juárez and Calle de la Normal S / N, https://orcid.org/0000-0003-3615-6560

DOI:

https://doi.org/10.37636/recit.v111222

Keywords:

Minimally Invasive, Robot Surgeon, Data Acquisition, Feedforward-Moment-Gyro-Control, Wireless Transceiver, Laparoscopy.

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.

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Author Biography

Roberto López-Avitia, Academic Body of Bioengineering and Environmental Health. Institute of Engineering, Autonomous University of Baja California (UABC), Blvd. Benito Juárez and Calle de la Normal S / N,

Roberto L. Avitia received the B.S. degree in biomedical electronic engineering from the National Institute of Technology of Mexico in 2004, the M.S. degree in bioelectronics from the Center for Research and Advanced Studies of the National Polytechnic Institute in 2006, and the Ph.D. degree in biomedical engineering from Autonomous University of Baja California (UABC) in 2013. His past employment includes industrial at Hirata Engineering and hospital experience at National Institute of Cardiology. He joined the Department of Bioengineering and Environmental Health at UABC in 2007 by applying dynamic programming and machine learning algorithms in high resolution electrocardiography (HRECG). He was creator of the bioengineering undergraduate program at UABC. Dr. L. Avitia is currently Full Professor of the bioengineering program at the UABC and Member of the National System of Researchers. His research interests include machine learning algorithms applied to biomedical systems, development of medical instrumentation, and pattern recognition.

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