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.

Ty Adair
Senior Application Engineer
Zemax an Ansys Company

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