Faculty of Mechatronics, Warsaw University of Technology, ul. św. Boboli 8, 02-525 Warsaw, Poland.
Sensors (Basel). 2022 Mar 17;22(6):2335. doi: 10.3390/s22062335.
With the application of four optical CMOS sensors, it was possible to capture the trajectory of an endoscopic tool during an in vitro surgical experiment on a cardiovascular preparation. This was due to the possibility of obtaining a path when a reflective marker was attached. In the work, APAS (Ariel Performance Analysis System) software and DLT (direct linear transformation) algorithm were used. This made it possible to acquire kinematic inputs to the computational model of dynamics, which enabled, regardless of the type of surgical robot structure, derivation of the analogous motion of an endoscopic effector due to the mathematical transformation of the trajectory to joints coordinates. Experiments were carried out with the participation of a practiced cardiac surgeon employing classic endoscopic instruments and robot surgical systems. The results indicated by the experiment showed that the inverse task of kinematics of position for the surgical robot with RCM (remote center of motion) structure was solved. The achieved results from the experiment were used as inputs for deriving a numerical dynamics model of surgical robot during transient states that was obtained by applying the finite element method and by driving dynamics moments acquired through the block diagrams method using a steering system with DC (direct current) motor and PID (proportional-integral-derivative) controller. The results section illustrates the course of kinematic values of endoscopic tools which were employed to apply numerical models as inputs, the course of the driving torque of the model of the surgical robot that enabled the selection of the drive system and the strength values, stresses and displacements according to von Mises hypothesis in its structure during the analysis of transient states that made it possible to establish the strength safety of the surgical robot. For the conducted experiments, the accuracy was ±2 [mm]. In the paper, the employment of optical CMOS sensors in surgical robotics and endoscopy is discussed. The paper concludes that the usage of optical sensors for determining inputs for numerical models of dynamics of surgical robots provides the basis for setting the course of physical quantities that appear in their real object structure, in manners close to reality.
利用四个光学 CMOS 传感器，可以在心血管准备的体外手术实验中捕获内窥镜工具的轨迹。这是因为当附着反射标记时，可以获得路径。在工作中，使用了 APAS（Ariel Performance Analysis System）软件和 DLT（直接线性变换）算法。这使得有可能获取到动力学计算模型的运动学输入，这使得无论手术机器人结构的类型如何，都可以由于轨迹到关节坐标的数学变换而得出内窥镜效应器的类似运动。实验是在经验丰富的心脏外科医生使用经典内窥镜仪器和机器人手术系统的情况下进行的。实验所指示的结果表明，解决了具有 RCM（运动远程中心）结构的手术机器人的位置运动学逆问题。实验中获得的结果被用作在瞬态状态下推导手术机器人的数值动力学模型的输入，该模型是通过应用有限元方法和通过使用具有直流 (DC) 电机和 PID (比例积分微分) 控制器的转向系统通过块图方法驱动动力学矩来获得的。结果部分说明了内窥镜工具的运动学值的过程，这些值被用作输入数值模型，说明了手术机器人模型的驱动力矩的过程，该模型使驱动系统和强度值、结构中的应力和位移根据 von Mises 假设得以选择在瞬态状态分析期间，这使得有可能确定手术机器人的强度安全性。对于进行的实验，精度为±2[mm]。本文讨论了在手术机器人和内窥镜中使用光学 CMOS 传感器。本文的结论是，使用光学传感器来确定手术机器人动力学数值模型的输入为设置出现在其真实物体结构中的物理量的轨迹提供了基础，这种方式更接近现实。
