Insertable Camera Research Articles

Fine orientation control of an insertable robotic camera system for single incision laparoscopic surgery.

Insertable laparoscopic camera systems were developed to improve the minimally invasive surgeries. Robotic degrees of freedom for an insertable laparoscopic camera are required to adjust the camera's orientation and position inside an abdominal cavity. This paper demonstrates an insertable magnetic actuated robotic camera system with two-degree-of-freedom (2-DoF) orientation control for single incision laparoscopic surgery. The camera system design consists of an external magnetic control unit and a fully insertable camera capsule. This system features a unified mechanism for anchoring, navigating, and rotating the insertable camera capsule by externally generated rotational magnetic field from the control unit. The motor-free camera capsule is encapsulated in an one-piece housing with two ring-shaped tail-end magnets and one cylindrical central magnet. The control unit that positioned externally consists of both permanent magnets and electromagnetic coils to generate rotational magnetic field and control the camera capsule. The experimental investigations indicated that the camera control system can achieve less than 1° control accuracies with average errors 0.594° and 0.524° for tilt motion and pan motion, respectively. The designed control system provides fine orientation control for the insertable camera capsule which guarantees proper vision for the surgeon during single incision laparoscopic surgery.

Design of a Magnetic Actuated Fully Insertable Robotic Camera System for Single-Incision Laparoscopic Surgery

This paper presents the design of a novel insertable robotic capsule camera system for single-incision laparoscopic surgery. This design features a unified mechanism for anchoring, navigating, and rotating a fully insertable camera by externally generated rotational magnetic field. The design is inspired by the spherical motor concept where the external stator generates anchoring and rotational magnetic field to control the motion of the insertable robotic capsule camera. The insertable camera body, which has no active locomotion mechanism onboard, is capsulated in a one-piece housing with two ring-shaped tail-end magnets and one cylindrical central magnet embedded onboard as a rotor. The stator positioned outside an abdominal cavity consists of both permanent magnets and electromagnetic coils for generating reliable rotational magnetic field. The initial prototype results in a compact insertable camera robot with a $\text{12.7}\;\text{mm}$ diameter and a $\text{68 mm}$ length. The design concepts are analyzed theoretically and verified experimentally. The experiments validate that the proposed camera robot design provides reliable camera fixation and locomotion capabilities under various testing conditions.

Solo Surgeon Laparo-Endoscopic Single Site Nephrectomy Facilitated by New Generation Magnetically Anchored and Guided Systems Camera

We report a redesigned magnetically anchored and guided systems (MAGS) camera with improved optics and a 30° downward viewing angle that facilitates solitary surgeon laparo-endoscopic single site (LESS) nephrectomy. The prototype consists of an external 2 by 6 cm cylinder containing magnets positioned such that the intra-abdominal camera is anchored on the peritoneal surface with a default 30° downward angle. It was inserted through a 3 cm LESS-port periumbilical incision in three pigs (mean 47 kg). The camera was coupled with the handheld magnetic device across the anterior abdominal wall and was steered into position to view the kidney. LESS nephrectomy was then performed. Since a standard LESS laparoscope was not needed, only the two operative instruments were inserted through the single incision port, significantly decreasing instrument "clashing" compared with traditional LESS nephrectomy. Due to the favorable angle of view of the camera and its self-anchoring capability, no assistant was needed to drive the camera. Instead, the surgeon periodically made minor adjustments to optimize the view. The nephrectomy was completed without complication in an average of 35 minutes in these three nonsurvival animals. The MAGS camera provides good optics and easy maneuverability during LESS porcine nephrectomy. As with other MAGS instruments, by replacing a traditional transabdominal laparoscope that occupies access port space, use of this insertable camera may diminish some of the "collision challenge" of LESS surgery. Also, by being self-anchoring, this prototype may minimize the need for an assistant surgeon.

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

Although video-laparoscopy has enabled successful minimal access surgery, the nature of the technology causes many troublesome limitations: (1) the fulcrum effect of the insertion site through the abdominal wall limits the angle of view, (2) the camera operator must use counterintuitive movements, (3) the laparoscope occupies an incision which otherwise could be used for an instrument, and (4) the laparoscope provides a two-dimensional image. A stereoscopic, insertable, remotely controlled camera was developed to overcome the limitations imposed by traditional video-laparoscopy. Additional functionality included digital zoom, picture-in-picture (PIP), and tracking capability for autonomous function of the camera. Four surgical tasks were performed twice in a porcine model, once using the insertable camera and once using a standard video-laparoscope setup for visualization. Running the bowel, simulated laparoscopic appendectomy, laparoscopic nephrectomy, and laparoscopic suturing and tying were measured for time, blood loss, and complications. Digital zoom, PIP, and the ability of the computer to move the camera to track a marked instrument were subjectively evaluated. The tasks were aborted in one animal because a new three-dimensional (3D) display could not be synchronized with the camera and in another animal because a motor in the camera failed. The tasks were all completed twice in two animals. The mean time was less for all procedures using the insertable camera. There was no significant blood loss and there were no complications. Digital zoom and PIP displaying both a close-up and a panoramic view were subjectively felt to improve visualization by all observers. The computer could reliably move the camera to track a marked instrument to keep it in the center of the field of view. This preliminary proof-of-concept study suggests that a stereoscopic, insertable, remotely controlled camera may provide better visualization during minimal access surgery by overcoming many of the limitations of video-laparoscopy.

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

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.