Abdominal Lighting Simulation System Based On Mini Robots

Abstract

Introduction: This document shows a system that simulates the illumination of the abdominal scene in laparoscopic operations using mini robots. The mini robots would be magnetically tied to the abdominal cavity and manipulated by an external robot arm. Two algorithms are tested in this system: one that moves the mini robot according to the movement of the endoscope, and another that moves from an analysis of the image captured by the scene.  Objective: To contribute to the illumination of the surgical scene by means of mini robots attached magnetically to the abdominal cavity. Methodology: A software tool was developed using Unity3D, which simulates the interior of the abdomen in laparoscopic operations, adding a new lighting: a mini light-type robot magnetically anchored to the abdominal wall. The mini robot has two different movements to illuminate the scene, one depends on the movement of the endoscope and the other on the image analysis performed. Results: Tests were performed with a representation of the real environment comparing it with the tests in the built tool, obtaining similar results and showing the potential of a mini robot to provide additional lighting to the surgeon if necessary. Conclusions: The designed algorithm allows a mini robot that is magnetically anchored in the abdominal wall to move to low-light areas following two options: a geometric relationship or movement as a result of image analysis.