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In-Vivo Pan/Tilt Endoscope

with Integrated Light Source

Tie Hu, Ph. D*, Peter K. Allen, Ph. D*, Dennis L. Fowler, M.D.***Department of Computer Science

**Department of Surgery

Columbia University, New York

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Outline

Motivation

Introduction

Proposed Solution Prototype Device I and II

Animal Tests

Results and Conclusion

Contributions and Future Work

Acknowledgement

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Minimally Invasive Surgery

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Limitations of Standard Endoscope Paradigm of pushing

long sticks into smallopenings.

Narrow angle imaging. Limited workspace.

Counter intuitivemotion.

Assistants needed tocontrol the camera.

Additional incisionsfor other laparoscopicinstruments.

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Robotic Surgery

Robotic surgery is future of surgery. Increase the dexterity and fine motion capabilities of

surgeon.

Decrease the tremor of surgeons hand.

Enable remote operation. Current surgical robot.

Enormous size.

Extremely high cost.

Multiple assistants needed. Multiple incisions needed as non-robotic MIS.

Compact and inexpensive surgical robot isneeded.

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In-Vivo Imaging Devices Rod-lens by Hopkins and cold light

source of fiber optics by Karl Storz. Flexible endoscope using fiber

optics to delivery light and transmitimage.

Pill camera without locomotion.

Endoscope with rotating mirror. Endoscope positioned by multilink

arm with piezoelectric actuators.

Gao et al., 1998

Pill camera

Karl Storz Endoscope

Flexible Endoscope

Ikuta et. al., 2002

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Proposed Solution An insertable surgical robot platform with sensors and

effectors in the body cavity where they can perform surgical& imaging tasks unfettered by traditional endoscopicinstrument design.

A prototype of a novel insertable Pan/Tilt endoscope withintegrated light source.

The incision port is left open access, allowing forsingle

port surgery.

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Prototype Device I

Design of 5-DOF insertable camera device

Stereo camera with 6 DOF

are desirable full mobility

Difficult to achieve in small

actuated package Compromise 3 DOF per

camera

Cameras share tilt axis

(1 DOF)

Independent translation

(2 DOF)

Independent pan (2

DOF)

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Single Camera Prototype I

Diameter: 22 mm; Length: 190 mmCamera opening: 58 mm

3 DOF: Pan: 120; Tilt: 130; Translation: 50 mm

Video

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Improvements Needed forPrototype II

Much reduced size:

Smaller diameter

Reduce length

Needs light source Make imaging head modular design

Tradeoff: Degrees-of-freedom for compactness

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Prototype II 110 mm in length and 11

mm in diameter. 120 degrees Pan/ 90 degrees

Tilt. Integrated 8 LED light

source and miniature cameramodule. Package to protect the

delicate electronics andfragile wires from body fluidand moisture. Fully sealed camera

module. Joint sealed by rubber boot.

Joystick control.

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Prototype II (C

ont.)

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LED Light Source Light-emitting diode (LED) as a

light source in laparoscopy:

Lower power

Higher efficiency

Compact package

Longer lifespan

Lower cost

Luxeon portable PWT white

LED(LXCL_PWT1)

2.0 X1.6 X 0.7 mm 26 lumens of light at 350 mA

8 PWT LED in a printed circuit

board with 9mm diameter.

208 lumens light at 8.4 w

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Camera Module

Pin hole lens (PTS 5.0 from Universe Kogaku America)

Focal length 5.0 mm.

F number 4.

Angle of view D-H-V(85.4-68.3-50.9 ).

6.5 mm CCD camera sensor. NET USA Inc, CSH-1.4-V4-END-R1.

450 TV lines in horizontal resolution and 420 TV lines in vertical

resolution.

Protective window by sapphire.

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Pan/Tilt Mechanism Miniature Brushless DC

motor (0513G, Faulhaber

Group).

25mNm output

torque.

5.8 mm in diameter.

Miniature worm gear

(Kleiss Gear Inc.)

Gear ratio 16:1.

Compact size. Increased torque.

Sleeve bearing to

reduce the friction of

tilt motion.

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Working Device in the Animal Test

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Laparoscopic Procedures

Running (measuring) the bowelAppendectomy

Suturing Nephrectomy

Video

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Timing of Each Procedures forLaparoscope and our device

Procedure Laparoscope

(minutes)

Robot

(minutes)

Running Bowel 4:20 3:30

Appendectomy 2:20 2:20

Suturing 5:00 4:00

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C

onclusion Easier and more intuitive to use than a

standard laparoscope. Joystick operation requires no specialized

operator training. Field of view and access to relevant regions

of the body were superior to a standardlaparoscope using a single port.

Time to perform procedures was better orequivalent to a standard laparoscope.

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C

ontributions and FutureW

ork Contributions

Built an insertable camera with Pan/Tilt and integrated

LED light source.

Accomplished a series of standard laparoscopicprocedures( appendectomy, running (measuring) the

bowel, suturing, and nephrectomy) by laparoscopic

surgeon using the device.

Future Work Camera with zoom and auto-focusing capabilities.

Stereo camera in one package.

Function with tool or organ tracking.

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Acknowledgement

We thank Nancy Hogle for her help in project

development and lab support. This work was supported by NIH grant

1R21EB004999-01A1.