A multi-resolution foveated laparoscope (MRFL) with autofocus and zooming capabilities was previously designed to address the limiting trade-off between spatial resolution and field of view during laparoscopic minimally invasive surgery. The MRFL splits incoming light into two paths enabling simultaneous capture of the full surgical field and a zoomed-in view of the local surgical site. A fully functional prototype was constructed to demonstrate and test the autofocus, zooming capabilities, and clinical utility of this new laparoscope. The test of the prototype in both dry lab and animal models was successful, but it also revealed several major limitations of the prototype. In this paper, we present a brief overview of the aforementioned MRFL prototype design and results, and the shortcomings associated with its optical and mechanical designs. We then present several methods to address the shortcomings of the existing prototype with a modified optical layout and redesigned mechanics. The performances of the new and old system prototypes are comparatively analyzed in accordance with the design goals of the new MRFL. Finally, we present and demonstrate a real-time digital method for correcting transverse chromatic aberration to further improve the overall image quality, which can be adapted to future MRFL systems.
Feasibility and clinical utility of a multi-resolution foveated laparoscope (MRFL) was previously tested in a porcine surgical study. The study revealed several clinical limitations of the system including moisture proofing, working distance, image quality, low light performance, color accuracy, size, and weight. In this paper, we discuss the root causes of these limitations and strategies to correct them, present the design and prototyping of a new high throughput multi resolution foveated laparoscope (HT-MRFL), and demonstrate the HT-MRFL prototype performance in comparison to the MRFL and simulated performance metrics.
Background We developed a multi-resolution foveated laparoscope (MRFL) to improve situational awareness in laparoscopic surgery. We assessed surgeon objective task performance and subjective attitudes with MRFL when used for box trainer tasks and porcine surgery. Methods The MRFL simultaneously obtains a wide-angle view and a magnified view. The 2 images are displayed simultaneously. 6 urologists and 2 general surgeons performed box trainer and porcine surgery tasks with the MRFL and a standard laparoscope. Task time, use of display options, and subjective assessments were obtained. Results Subjectively, surgeons rated situational awareness, depth perception, and instrument interference as comparable between the prototype MRFL and laparoscope for trainer tasks. For porcine surgery, the MRFL was rated as having less interference than the standard laparoscope. The image quality of the MRFL was rated interior to the standard laparoscope. Participants found the different viewing modes useful for different roles and reported that they would likely use the MRFL for conventional laparoscopic and robotic surgery. Objectively, box trainer task time was comparable for 2 of 3 tasks with the remaining task shorter for the standard laparoscope. Porcine nephrectomy and oophorectomy were feasible with the prototype MRFL, although nephrectomy task time was significantly longer than traditional laparoscopy. Conclusions The MRFL demonstrated feasibility for performing complex surgery. Surgeons had favorable attitudes toward its features and likelihood to use the device if available. Users utilized different view types for different tasks. Longer MRFL task times were attributed to poorer image quality of the prototype.
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