In-Vivo Stereoscopic In-Vivo Stereoscopic Imaging System with Imaging System with 5 Degrees-of-Freedom 5 Degrees-of-Freedom
for Minimal Access for Minimal Access SurgerySurgery
Andrew Miller, Ph.D. Peter Andrew Miller, Ph.D. Peter Allen, Ph.D. Dennis Fowler, Allen, Ph.D. Dennis Fowler,
M.D.M.D.Dept. of Computer Science and Dept. of Computer Science and
Dept. of Surgery,Dept. of Surgery,Columbia University, New York, Columbia University, New York,
NYNY
Motivation & GoalsMotivation & Goals Current endoscope limitations:Current endoscope limitations:
2D and narrow angle imaging2D and narrow angle imaging Limited range of movementLimited range of movement Occupies incisionOccupies incision
Cameras and actuators have reduced in Cameras and actuators have reduced in sizesize
Insert a device with multiple cameras and Insert a device with multiple cameras and affix to interior abdominal wallaffix to interior abdominal wall
Cameras move independently and provide Cameras move independently and provide a wide variety of viewsa wide variety of views
Future: Add surgical tools as wellFuture: Add surgical tools as well* Funded by NYSTAR CAT seed grant and Karl Storz Inc.
Design DecisionsDesign Decisions
Monocular or stereo?Monocular or stereo? What kind of actuators?What kind of actuators? Which degrees of freedom?Which degrees of freedom? How should it be packaged?How should it be packaged?
Components: ShuttleComponents: Shuttle
Ball bearing camera contacts
Translation lead screw
Camera driver board
Pan axis motor &
lead screw(underneath
)
Components: Inner ShellComponents: Inner Shell
Translation motor
Tilt motorBrass traces for camera contacts
Components: Outer ShellComponents: Outer Shell
Gearing for tilt axisNeedle to be placed on underside
User InterfaceUser Interface
Joystick controls individual axesJoystick controls individual axes Future:Future:
Voice commandsVoice commands Semi-autonomous operation by tracking Semi-autonomous operation by tracking
user identified featureuser identified feature Automatic view planningAutomatic view planning
Future WorkFuture Work
Test different strategies for affixing Test different strategies for affixing device to abdominal walldevice to abdominal wall
Evaluate different sterilization Evaluate different sterilization proceduresprocedures
Examine possibility of adding a light Examine possibility of adding a light sourcesource
Develop human-computer interfaceDevelop human-computer interface Evaluate ease of use as tool in Evaluate ease of use as tool in
operating roomoperating room
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