title: Kinematic fundamentals of a biomechatronic laparoscopy system.
abstract: BACKGROUND
  Optical assistance in laparoscopic surgery is essential for an optimal procedure. Unlike conventional surgery, it requires new systems to reduce spatial location time, navigation and cleanliness without compromising surgical quality. This article shows the kinematic analysis of a new bio-mechatronic design to assist laparoscopic visual perspective in real time, either during training or in surgery.
  
  
  METHODS
  The bio-mechatronic system is analyzed in order to get the kinematic model of the system.
  
  
  RESULTS
  The set of kinematic equations for the bio-mechatronic system are presented here. The system has been tested functionally in several surgical procedures successfully.
  
  
  CONCLUSIONS
  The analysis shows the workspace under postural conditions of navigation in real time, where it is possible to get visually self assistance during training or specific surgeries. The new bio-mechatronic system has been tested in training with inanimate and biological models, in veterinary surgery and pediatrics, with the appropriate consent and respecting the Treaty of Helsinki.
authors.affiliation: Departamento de Ingeniería Eléctrica Electrónica, Instituto Tecnológico de Nuevo Laredo, Tamaulipas, México. jlortiz@cinvestav.mx.
authors.forename: J L
authors.initials: JL
authors.lastname: Ortiz Simón
authors.forename: A
authors.initials: A
authors.lastname: Minor Martínez
authors.forename: R
authors.initials: R
authors.lastname: Ordorica Flores
authors.forename: J L
authors.initials: JL
authors.lastname: Limón Aguilar
authors.forename: E
authors.initials: E
authors.lastname: Suaste
mesh_terms: D000465:Algorithms; D000818:Animals; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D020706:Laparoscopes; D010535:Laparoscopy / Q000295:instrumentation* / Q000379:methods*; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods