Article

Article title DESIGN OF THE METHOD OF POSITIONING AND TRACKING THE SURGICAL INSTRUMENTS BY THE FULFILLMENT OF THE LAPAROSCOPIC OPERATIONS
Authors E.A. Shestova, E.D. Sinyavskaya, V.I. Finaev, O.V. Kosenko, Ju.Ju. Bliznjuk, V.V. Shadrina
Section SECTION I. AUTOMATION AND CONTROL
Month, Year 05, 2016 @en
Index UDC 51-7
DOI
Abstract The article discusses the problem related to ensuring optimal visualization during minimally invasive surgery operations. A method of positioning and tracking of surgical instruments during laparoscopic surgery is offered. A significant difference of this method is the use of markers and reference points , which are located in the visible area (outside the abdominal region ), which allows to calculate the coordinates of a laparoscope and surgical instruments inside the treated area on the basis of methods of vector algebra and geometric conversions without the use of pattern recognition . Based on the proposed method the position of surgical instruments and the laparoscope inside the treated area is determined by calculating the coordinates of the visible part of the instruments outside. For this task, we use an optical localization system based on triangulation method. The goal of automatic tracking is to change the position and orientation of the laparoscope in accordance with the position of the surgical tool in the field of visualization. To determine the optimal visualization of the operated area you identify the position of the tool tip located in the center of a video image of the endoscope. The algorithm for determining the desired position of the laparoscope, which depends on the coordinates and orientation of a surgical tool and generates a positioning error, is offered. In addition, conditions for optimal visualization of the operated area are listed. The feasible region of the location of the laparoscope relative to the surgical instrument is defined. A software testing of the method of positioning and tracking surgical instruments is performed, confirming the validity of the developed method. The proposed method of positioning and tracking is universal for different types of robotic holders with different number of freedom degrees.

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Keywords Method of positioning and tracking the surgical instruments; robotic holder; minimally invasive surgery; optimal visualization; vector algebra; positioning error
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