Modeling and Simulation of Laparoscopic Tools for Autonomously Positioning Laparoscope in Laparoscopic Surgery


In laparoscopic surgery, the surgeons are equipped with the suitable tools for the surgery, while the laparoscope is used to capture the operation environment and displays it on a monitor. This paper presents the mathematical kinematic position modeling of the laparoscopic tools used for autonomous positioning of a laparoscope in such operations. These models are obtained using Denavit-Hartenberg (D-H) Notations and Homogenous Transformation Matrix (HTM). The laparoscopic tools are considered as six degrees of freedom (DOF) mechanisms while the laparoscope has four DOF. The 3D loop closure equation is used to obtain the laparoscope kinematic position models in terms of those of the laparoscopic tools. These models are used to simulate and align the laparoscope camera with the surgeon’s laparoscopic Tools Center Points (TCP). The obtained results show the smooth positioning of the laparoscope camera for better visu-alization of laparoscopic surgery environments.

Share and Cite:

Megahed, S. and Balbola, A. (2013) Modeling and Simulation of Laparoscopic Tools for Autonomously Positioning Laparoscope in Laparoscopic Surgery. Engineering, 5, 85-89. doi: 10.4236/eng.2013.510B017.

Conflicts of Interest

The authors declare no conflicts of interest.


[1] N. Halín, P. Loula and P. Aarnio, “Experiences of Using the EndoAssist-Robot in Surgery,” Studies in Health Technology and Informatics, Vol. 125, 2007, pp. 161-163.
[2] B. S. Terry, A. D. Ruppert, K. R. Steinhaus, J. A Schoen and M. E. Rentschler, “An Integrated Port Camera and Display System for Laparoscopy,” IEEE Transactions on Bio-Medical Engineering, Vol. 57, No. 5, 2010, pp. 1191- 1197.
[3] O. Weede, H. Monnich, B. Muller and H. Worn, “An Intelligent and Autonomous Endoscopic Guidance System for Minimally Invasive Surgery,” 2011 ICRA, 2011, pp. 5762-5768.
[4] B. S. Terry, Z. C. Mills, J. a Schoen and M. E. Rentschler, “Single-Port-Access Surgery with a Novel Magnet Camera System,” IEEE Transactions on Bio-Medical Engineering, Vol. 59, No. 4, 2012, pp. 1187-1193.
[5] D. Xu, C. A. A. Calderon, J. Q. Gan, H. Hu and M. Tan, “An Analysis of the Inverse Kinematics for a 5-DOF Manipulator,” International Journal of Automation and Computing, Vol. 2, 2005, pp. 114-124.
[6] S. M. Megahed, “Principles of Robot Modelling and Simulation,” John Wiley & Sons Ltd., 1993, pp. 256-261.
[7] A. Balbola, “Modeling and Simulation of Endoscopes for Autonomously Positioning Videoscope in Laparoscopic Surgery,” Cairo University, 2013.

Copyright © 2024 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.