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.
Highlights
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
This paper presents a prototype mechatronic system to move wirelessly a laparoscopic wireless-camera and lightsource inside the abdominal cavity of a patient [15, 16]
The present study showed that the position of a laparoscopic camera and light inside the abdomen of a patient can be controlled by the surgeon with a laparoscopic instrument
Summary
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. 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
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