In-Vivo Stereoscopic In-Vivo Stereoscopic Imaging System with Imaging System with 5 Degrees-of-Freedom 5 Degrees-of-Freedom

for Minimal Access for Minimal Access SurgerySurgery

Andrew Miller, Ph.D. Peter Andrew Miller, Ph.D. Peter Allen, Ph.D. Dennis Fowler, Allen, Ph.D. Dennis Fowler,

M.D.M.D.Dept. of Computer Science and Dept. of Computer Science and

Dept. of Surgery,Dept. of Surgery,Columbia University, New York, Columbia University, New York,

NYNY

Motivation & GoalsMotivation & Goals Current endoscope limitations:Current endoscope limitations:

2D and narrow angle imaging2D and narrow angle imaging Limited range of movementLimited range of movement Occupies incisionOccupies incision

Cameras and actuators have reduced in Cameras and actuators have reduced in sizesize

Insert a device with multiple cameras and Insert a device with multiple cameras and affix to interior abdominal wallaffix to interior abdominal wall

Cameras move independently and provide Cameras move independently and provide a wide variety of viewsa wide variety of views

Future: Add surgical tools as wellFuture: Add surgical tools as well* Funded by NYSTAR CAT seed grant and Karl Storz Inc.

Design DecisionsDesign Decisions

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

Initial DesignInitial Design

Initial PrototypeInitial Prototype

Components: ShuttleComponents: Shuttle

Ball bearing camera contacts

Translation lead screw

Camera driver board

Pan axis motor &

lead screw(underneath

)

Components: Inner ShellComponents: Inner Shell

Translation motor

Tilt motorBrass traces for camera contacts

Components: Outer ShellComponents: Outer Shell

Gearing for tilt axisNeedle to be placed on underside

Components: Actuators & Components: Actuators & CameraCamera

User InterfaceUser Interface

Joystick controls individual axesJoystick controls individual axes Future:Future:

Voice commandsVoice commands Semi-autonomous operation by tracking Semi-autonomous operation by tracking

user identified featureuser identified feature Automatic view planningAutomatic view planning

Future WorkFuture Work

Test different strategies for affixing Test different strategies for affixing device to abdominal walldevice to abdominal wall

Evaluate different sterilization Evaluate different sterilization proceduresprocedures

Examine possibility of adding a light Examine possibility of adding a light sourcesource

Develop human-computer interfaceDevelop human-computer interface Evaluate ease of use as tool in Evaluate ease of use as tool in

operating roomoperating room