Apr 12, 2022

Tech Tip Tuesdays with Zemax: Featured March Tip!

Category: Product News

This article was originally featured in our Tech Tips Tuesday series on LinkedIn, where we share technical know-how directly from our team of expert optical engineers and the Zemax Community 

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Tech Tip Tuesdays with Zemax: Robotic Surgery Camera Design - Tracking your instrumentation during a procedure

Robotic surgical devices have been around since 1985, when the Puma 560 was first used to orient a needle during a neuro-surgical biopsy. We have come so much further than needle orientation, with the modern-day standard striving for remote-operated, modular, self-cleaning, multi-procedural systems. The call for robust surgical robotics such as machine vision, high resolution endoscopy, and bulk tissue fluorescence imaging is met with high performance, task focused optical sub-systems.

One such sub-system is the machine vision cameras used within modern surgical robotic devices to accurately measure distances and co-locate instrumentation within a scene. These cameras leverage Telecentric Imaging systems, which have a constant magnification across object distance and field. This means that an object’s apparent size won’t change as the object gets closer or farther away from the camera, allowing a computer to accurately track where and how far apart objects are, in that dimension, during an operation.

Telecentricity is typically characterized by the location of the entrance/exit pupils being at infinity, which causes the chief ray to be parallel to the optical axis of the system.

Telecentricity can be targeted in OpticStudio by:

  • Controlling the location of the exit pupil via the “EXPP” merit function operand

  • Controlling the Chief Ray angle via the “RANG” merit function operand

  • Using a Chief ray angle solve (For simple systems)

These operands and solves allow the user to use telecentricity as part of the system design criteria.

Author:
Ty Adair
Senior Application Engineer
Zemax an Ansys Company

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