TITLE:
Modeling and Simulation of Laparoscopic Tools for Autonomously Positioning Laparoscope in Laparoscopic Surgery
AUTHORS:
S. M. Megahed, A. A. Balbola
KEYWORDS:
Laparoscopic Surgery; Homogenous Transformation Matrix; Denavit-Hartenberg Notations
JOURNAL NAME:
Engineering,
Vol.5 No.10B,
October
25,
2013
ABSTRACT: In laparoscopic surgery, the surgeons are equipped with
the suitable tools for the surgery, while the laparoscope is used to capture
the operation environment and displays it on a monitor. This paper presents the
mathematical kinematic position modeling of the laparoscopic tools used
for autonomous positioning of a laparoscope in such operations. These models
are obtained using Denavit-Hartenberg (D-H) Notations and Homogenous
Transformation Matrix (HTM). The laparoscopic tools are considered as six degrees
of freedom (DOF) mechanisms while the laparoscope has four DOF. The 3D loop
closure equation is used to obtain the laparoscope kinematic position models in
terms of those of the laparoscopic tools. These models are used to
simulate and align the laparoscope camera with the surgeon’s laparoscopic Tools
Center Points (TCP). The obtained results show the smooth positioning of the
laparoscope camera for better visu-alization of laparoscopic surgery
environments.