Authors E.A. Shestova, E.D. Sinyavskaya, V.I. Finaev, O.V. Kosenko, Ju.Ju. Bliznjuk, V.V. Shadrina
Month, Year 05, 2016 @en
Index UDC 51-7
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.

Download PDF

Keywords Method of positioning and tracking the surgical instruments; robotic holder; minimally invasive surgery; optimal visualization; vector algebra; positioning error
References 1. Robotics. Режим доступа:
2. Meditsinskie roboty [Medical robots]. Available at:
3. Sim H.G., Yip S.K.H., and Cheng C.W.S. Equipment and technology in surgical robotics, World Journal of Urology, 2006, Vol. 24, No. 2, pp. 128-135.
4. Rane, S. Kommu, B. Eddy, P. Rimington, and C. Anderson, Initial experience with the endoassist (r) camera holding robot in laparoscopic urological surgery, European Urology Supplements, 2007, Vol. 6, No. 2, pp. 186-186.
5. Robot Surgery, edited by Seung Hyuk Baik. 2010 ISBN 978-953-7619-77-0, 172 p.
6. Russell H. Taylor, Peter Kazanzides. Medical Robotics and Computer-Integrated Interventional Medicine. Elsevier, 2008, 24 p.
7. Jason J. Dumpert. Towards Supervised Autonomous Task Completion Using an in vivo Surgical Robot: dissertation. University of Nebraska – Lincoln, 2009, 212 p.
8. Potentsial rossiyskikh innovatsiy na rynke sistem avtomatizatsii i robototekhniki: Ekspertno-analiticheskiy otchet [The potential of Russian innovations on the market of automation and robotics: analytical report]. Moscow: OAO «RVK», 2014, 128 p.
9. Joris Jaspers. Simple Tools for Surgeons; Design andevaluation of mechanical alternatives for robotic instruments for minimally invasive, Dissertation: Amsterdam, 2006, 141 p.
10. Bogdanova Yu.V., Gus'kov A.M. Chislennoe modelirovanie zadachi pozitsionirovaniya instrumenta khirurgicheskogo Robota-Manipulyatora pri dvizhenii po zadannoy traektorii [Numerical simulation of the task of positioning the surgical tool to the robotic arm when moving along a given trajectory], Nauka i obrazovanie [Science and education], 2013, No. 5, pp. 181-210. Available at:
11. Agustinos A., Wolf R., Long J.A., Cinquin P., Voros S. Visual Servoing of a robotic endoscope holder based on surgical instrument tracking, 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2014. Sгo Paulo, Brazil, pp. 13-18.
12. Berkelman P., Cinquin P., Boidard E., Troccaz J., Lґetoublon C. and Ayoubi J-M. Design, control and testing of a novel compact laparoscopic endoscope manipulator, Proc. Instn Mech. Engrs Vol. 217 Part I: J. Systems and Control Engineering, pp. 329-341.
13. Ofitsial'nyy sayt Polaris [Official website of Polaris]. Available at:
14. Beklemishev D.V. Kurs analiticheskoy geometrii i lineynoy algebry [Course of analytical geometry and linear algebra]. 10th ed. Moscow: Fizmatlit, 2005, 304 p.
15. Il'in V.A. Kim G.D. Lineynaya algebra i analiticheskaya geometriya [Linear algebra and analytical geometry]. Moscow: Izd-vo MGU, 1998, 320 p.
16. Farbod Fahimi. Autonomous Robots Modeling, Path Planning, and Control. Springer Science+Business Media, 2009, 348 p.
17. Zenkevich S., Yushchenko A. Osnovy upravleniya manipulyatsionnymi robotami [Fundamentals of control robotic manipulator]. Moscow: MGTU im. N.E. Baumana, 2004, 480 p.
18. Moskvichev A., Kvartalov A., Ustinov B. Zakhvatnye ustroystva promyshlennykh robotov i manipulyatorov: uchebnoe posobie [Gripper of industrial robots and manipulators: a tutorial]. Moscow: Forum, 2015, 176 p.
19. Gayduk A.R., Pshikhopov V.Kh., Medvedev M.Yu., Kostyukov V.A., Medvedeva T.N. Proektirovanie robotov i robototekhnicheskikh sistem: uchebnoe posobie [Designing robots and robotic systems: Tutorial]. Taganrog: Izd-vo YuFU, 2013.
20. Bliznyuk Y.Y., Finaev V.I., Kosenko O.V., Shestova E.A., Sinyavskaya E.D. Method of choice of the robot-manipulator of laparoscope controlling in the minimally invasive surgery, International Journal of Applied Engineering Research, 2016, Vol. 11, No. 9, pp. 6230-6235. ISSN 0973-4562.
21. Finaev V.I., Sinyavskaya E.D., Shestova E.A., Kosenko E.Yu. Metod pozitsionirovaniya robotizirovannogo derzhatelya laparoskopa na osnove vychislitel'noy geometrii [Design of the posi-tioning method of the robotic holder of laparoscope basing on computational geometry], Izvestiya YuFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering Sciences], 2016, No. 2 (175), pp. 80-89.

Comments are closed.