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

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 si...

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Bibliographic Details
Published inRevista de ciencias tecnológicas Vol. 1; no. 1; pp. 12 - 22
Main Authors Torres-Ventura, José, Reyna-Carranza, Marco Antonio, Rascón-Carmona, Raúl, Bravo-Zanoguera, Miguel Enrique, López-Avitia, Roberto
Format Journal Article
LanguageEnglish
Published Universidad Autónoma de Baja California 26.09.2018
Subjects
Adquisición de Datos
Control
Control de Giro de Momento de Avance
Data Acquisition
Feedforward
Feedforward-Moment-Gyro-Control
Gyro
Laparoscopy
Laparoscopía
Minimally Invasive
Moment
Mínimamente Invasivo
Robot Cirujano
Robot Surgeon
Transceptor Inalámbrico
Wireless Transceiver
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Summary: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.
ISSN:2594-1925
2594-1925
DOI:10.37636/recit.v111222