Authors V.I. Finaev, E.D. Sinyavskaya, E.A. Shestova, E.Yu. Kosenko
Month, Year 02, 2016 @en
Index UDC 51-7
Abstract The paper proposes a solution of the problem of positioning of the robotic holder of laparoscope (including the surgical tools) by the minimally invasive operations. As a technical solution, which was developed based on the positioning method used a system of optical triangulation sensors are used to determine the position of the controlled objects. The usage of this type of the sensors based on methods of computational geometry and vector algebra allows to develop a method of positioning a laparoscope and surgical instruments, which leads to determine the position and orientation of objects in space controlled with desired accuracy at any given time. The essential difference between the designed positioning method is the usage of ground control points (labels) located on the laparoscope and surgical instruments in the visible (outer) area, that allows to determine the coordinates of the controlled objects in the abdominal area. The algorithm, which includes the steps of the determination of the position and orientation of the surgical tool and finding the coordinates of singular points, was developed. Usage of the positioning method does not depend on the configuration of the robotic holder and can be applied to all types of robots. Computer modeling was performed in this paper. The results of modeling confirmed the validity of the proposed positioning method. The experimental results of the positioning error values do not exceed the existing standards and indicators on the same research. The fulfilled researches and the obtained results by the design of the positioning method of the robotic holder will allows to solve the task of automatic tracking of surgical instruments and a laparoscope.

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Keywords Positioning method; robotic holder; minimally invasive surgery; computational geometry; the system of optical triangulation sensors; reference points; positioning error.
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