Comparison of Monoscopic Insertable, Remotely Controlled Imaging Device With a Standard Laparoscope in a Porcine Model

Abstract

Laparoscopic imaging has remained relatively unchanged since the introduction of the rod-lens system. The intent here is to improve imaging by designing and building sensors and effectors placed directly into the body and controlled remotely. An 11-mm monoscopic insertable pan/tilt endoscopic imaging device with an integrated light source was studied. In vivo testing included simulated appendectomy, nephrectomy, suturing, and running the bowel in a porcine model (n = 6). Subjective impression and time for each procedure were compared using each imaging modality. The insertable imaging device seemed easier and more intuitive to use than a standard laparoscope. Time to perform procedures was better than or equivalent to a standard laparoscope. The insertable camera was subjectively preferred, and times for completion of complex tasks were shorter using the insertable camera. The insertable imaging device has the potential to be an integral part of surgical system platforms.

System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery

“…To meet the challenges of SPA surgeries, an Insertable Robotic Effector Platform (IREP) (Fig. 1) is designed by merging our enabling technologies of endoscopic imaging [14][15][16][17] and distal dexterity enhancement [18][19][20][21][22]. The IREP robot is a completely new design which integrates stereo vision and dexterous end effectors for surgical interventions.…”

Initial trial of a stereoscopic, insertable, remotely controlled camera for minimal access surgery

“…Among these constraints are (1) limited mobility and limited angle of view caused by insertion through a small incision that acts as a fulcrum for movement of the laparoscope and camera, (2) requirement for counterintuitive movements by the camera-holding person and, hence, a significant learning curve, (3) requirement that the laparoscope occupy an incision for the duration of the operation, and (4) a twodimensional (2D) image representing a three-dimensional (3D) space. In multiple previous reports by our group and others, investigators have documented development of an insertable, remotely controlled camera that would at least partially overcome the first three constraints [1][2][3][4][5][6][7][8][9][10][11]. In this report, we present the initial trial of a prototype camera that is stereoscopic, insertable, remotely controllable, and was designed to additionally address the fourth constraint.…”

“…We conducted the first six laboratory sessions using a monoscopic camera, and the results of those studies have been published [5]. We conducted the remaining four laboratory sessions with a new prototype consisting of the two-chip version of the camera described above.…”

“…The stereoscopic camera has the same shape, actuation mechanism, and physical properties as the monoscopic camera described in multiple previous publications [3][4][5]. Stereoscopy to deliver a 3D image was created by adding a second camera within the same housing (Figs.…”

Dexterous miniature robot for advanced minimally invasive surgery

“…The MAGS platform has been demonstrated in multiple animal model studies, including single-trocar laparoscopic and NOTES nephrectomy. An insertable surgical imaging device with multiple degrees of freedom for minimally invasive surgery is also being developed [23]. The base system consists of a camera package, control interface driver, personal computer, and joystick controller.…”