In-Vivo Stereoscopic Imaging System with 5 Degrees-of-Freedom for Minimal Access Surgery

1
In-Vivo Stereoscopic Imaging System with 5
Degrees-of-Freedom for Minimal Access Surgery

• Andrew Miller, Ph.D. Peter Allen, Ph.D.
  Dennis Fowler, M.D.
• Dept. of Computer Science and Dept. of Surgery,
• Columbia University, New York, NY

2
Motivation Goals

• Current endoscope limitations
• 2D and narrow angle imaging
• Limited range of movement
• Occupies incision
• Cameras and actuators have reduced in size
• Insert a device with multiple cameras and affix
  to interior abdominal wall
• Cameras move independently and provide a wide
  variety of views
• Future Add surgical tools as well

Funded by NYSTAR CAT seed grant and Karl Storz
Inc.
3
Design Decisions

• Monocular or stereo?
• What kind of actuators?
• Which degrees of freedom?
• How should it be packaged?

4
Initial Design
5
Initial Prototype
6
Components Shuttle
7
Components Inner Shell
8
Components Outer Shell
9
Components Actuators Camera

10
User Interface

• Joystick controls individual axes
• Future
• Voice commands
• Semi-autonomous operation by tracking user
  identified feature
• Automatic view planning

11
Future Work

• Test different strategies for affixing device to
  abdominal wall
• Evaluate different sterilization procedures
• Examine possibility of adding a light source
• Develop human-computer interface
• Evaluate ease of use as tool in operating room