Fine Tilt Tuning of a Laparoscopic Camera by Local Magnetic Actuation

Abstract

LMA is an effective strategy to provide magnetic cameras with wide-range and high-resolution vertical motion without the need to deform the abdominal wall.

Magnetic Surgical Instruments for Robotic Abdominal Surgery

“…Another camera system based on controlled PM position has been proposed by Simi et al [90]. With reliable motion and the fine-tuning of one of the DOFs used to change the field of view, the device can be used for LESS scenario.…”

“…The dimensions of the device (i.e. 12.7 mm diameter and 120 mm in length) limit its in vivo [90] guidance, but the actuation principle allows a better exploration of the surgical field as well as optimal positioning.…”

Closed-Loop Control of Local Magnetic Actuation for Robotic Surgical Instruments

“…Each single surgical instrument is coupled with an independent external handheld magnet. The main drawback of this approach is in the low dexterity and poor motion accuracy due to manual operation of the external magnets [13]. To overcome this limitation, magnetic coupling can be used mainly for gross positioning, while on-board EM motors can be adopted for providing fine motion of the surgical end effector [9], [13], [14].…”

“…The main drawback of this approach is in the low dexterity and poor motion accuracy due to manual operation of the external magnets [13]. To overcome this limitation, magnetic coupling can be used mainly for gross positioning, while on-board EM motors can be adopted for providing fine motion of the surgical end effector [9], [13], [14]. As previously mentioned, however, the on-board actuators that can fit through a single tiny incision are very limited in power and do not allow the performance of surgical tasks such as lifting an organ or following in real-time the surgeon's movements at the master interface.…”

A magnetic levitation robotic camera for minimally invasive surgery: Useful for NOTES?

“…The head module incorporates two motorized donut-shaped magnets and a miniaturized vision system at the tip composed by a STORZ commercial camera and a crown of six white high efficiency light emitting diodes (LEDs) for illumination. As described extensively by Simi et al 13 , the small robotic MLS camera can be intra-abdominally anchored and moved by external permanent magnets (EPM) placed on the external abdominal wall. Furthermore the main benefit stems from the robotized innovative embedded mechanism that exploits the static external magnetic field to induce a precise smooth bending of the robotic head, activated by a push button interface, guaranteeing a wide span (0-80°) tilt motion of the point of view.…”