Magnetically Activated Stereoscopic Vision System for Laparoendoscopic Single-Site Surgery

Abstract

In this paper, the authors present an innovative vision platform for laparoendoscopic single-site (LESS) surgery based on a wired and magnetically activated 5-degrees-of-freedom robot with stereovision. The stereoscopic vision module, developed using two off-the-shelf cameras and a light emitting diodes lighting system, is mounted on the robot tip. An autostereoscopic screen is adopted to display the surgical scenario as an alternative to 3-D helmets or polarizing glasses. A rough position of the stereocamera can be determined along the abdominal wall by dragging the robot with a set of external permanent magnets (EPMs). Once the camera is set in the desired position, the EPMs provide fixation, while the internal mechanism allows fine tilt adjustment. Considering the deformable round shape of the insufflated abdomen wall and in order to replicate the precise roll motion usually provided by the endoscopist's hands, this prototype embeds an actuated mechanism that adjusts the stereocamera horizon and thus prevents any visual discomfort. Finally, the platform was preliminarily tested in vivo in a LESS scenario, demonstrating its advantages for eliminating potential conflicts with the operative tools and enabling the introduction of an additional instrument through the same access port used for stereoscopic vision.

Recent technological advancements in laparoscopic surgical instruments

“…Simi et al [12] designed and fabricated a new vision system based on a magnetically-activated 5-DOF wired robot with stereoscopic vision. It also featured an actuated mechanism that adjusts the horizon which then prevents visual discomfort.…”

Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots

“…The magnetization grade of each ASM is 1.32 [T] (i.e., N45). Cubic and cylindrical IPMs are commonly used for magnetic actuation in medical applications [6,[10][11][12]16]. In this work, a cubic IPM (3.1 mm) with a magnetization grade of 1.4 [T] (i.e., N50) is considered to be placed in a prototype of a capsule robot.…”

Laparoscopic Tissue Retractor Based on Local Magnetic Actuation

“…The trocar with the largest inner diameter is usually dedicated to the endoscopic camera (i.e., 13 mm inner diameter for the Versaport V2, Covidien, Mansfield, MA). Assuming we use that port for insertion, we can consider 12.7 mm as the maximum outer diameter for an LMA-based instrument [9]. The limitation in diameter affects the design of all the components inside the surgical tool, including the internal magnets.…”