A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments

A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments

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 si...

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Glavni autori: Torres-Ventura, José, Reyna-Carranza, Marco Antonio, Rascón-Carmona, Raúl, Bravo-Zanoguera, Miguel Enrique, López-Avitia, Roberto
Format: Online
Jezik:eng
Izdano: Universidad Autónoma de Baja California 2018
Online pristup:https://recit.uabc.mx/index.php/revista/article/view/27
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spelling recit-article-272022-10-06T23:21:31Z A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments Un control giroscópico de momento de avance para posicionar de forma inalámbrica la fuente de luz y la cámara inalámbrica en instrumentos laparoscópicos Torres-Ventura, José Reyna-Carranza, Marco Antonio Rascón-Carmona, Raúl Bravo-Zanoguera, Miguel Enrique López-Avitia, Roberto Minimally Invasive Robot Surgeon Data Acquisition Feedforward-Moment-Gyro-Control Wireless Transceiver Laparoscopy. Mínimamente Invasivo Robot Cirujano Adquisición de Datos Control de Giro de Momento de Avance Transceptor Inalámbrico Laparoscopía. 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. Resumen. - En este artículo se presenta un sistema mecatrónico giroscópico, que ayuda al cirujano laparoscópico a controlar de forma inalámbrica el zoom y la posición panorámica de una cámara y una fuente de luz, adaptadas a un manipulador para cirugía mínimamente invasiva. El giroscopio adaptado al manipulador, genera una señal de referencia utilizada por un control de lazo abierto. El sistema de cámara y fuente de luz, está montado sobre un dispositivo electromecánico (brazo robótico) de tres grados de libertad (3DOF). El éxito se mide haciendo una comparación de una señal de entrada a partir de los niveles de voltaje generados por un transductor con tecnología de sistemas micro-electro-mecánicos (MEMS), versus las señales para las posiciones angulares de dos servomotores (trayectoria panorámica e inclinación) y el acercamiento o alejamiento de la cámara por un motor DC. Universidad Autónoma de Baja California 2018-09-26 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Artículo de investigación application/pdf text/html application/xml https://recit.uabc.mx/index.php/revista/article/view/27 10.37636/recit.v111222 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 1 No. 1 (2018): July-September; 12-22 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 1 Núm. 1 (2018): Julio-Septiembre; 12-22 2594-1925 eng https://recit.uabc.mx/index.php/revista/article/view/27/30 https://recit.uabc.mx/index.php/revista/article/view/27/76 https://recit.uabc.mx/index.php/revista/article/view/27/129 Copyright (c) 2018 Torres-Ventura Jose, Reyna Carranza Marco Antonio, Rascón Carmona Raul, Bravo-Zanoguera Miguel Enrique, López-Avitia Roberto  http://creativecommons.org/licenses/by/4.0
institution RECIT
collection OJS
language eng
format Online
author Torres-Ventura, José
Reyna-Carranza, Marco Antonio
Rascón-Carmona, Raúl
Bravo-Zanoguera, Miguel Enrique
López-Avitia, Roberto
spellingShingle Torres-Ventura, José
Reyna-Carranza, Marco Antonio
Rascón-Carmona, Raúl
Bravo-Zanoguera, Miguel Enrique
López-Avitia, Roberto
A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
author_facet Torres-Ventura, José
Reyna-Carranza, Marco Antonio
Rascón-Carmona, Raúl
Bravo-Zanoguera, Miguel Enrique
López-Avitia, Roberto
author_sort Torres-Ventura, José
title A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
title_short A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
title_full A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
title_fullStr A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
title_full_unstemmed A feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
title_sort feedforward-moment-gyro-control for positioning wirelessly light-source and wireless- camera in laparoscopic instruments
description 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.
publisher Universidad Autónoma de Baja California
publishDate 2018
url https://recit.uabc.mx/index.php/revista/article/view/27
_version_ 1792095358121148416

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