Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Tie Hu, Ph. D*, Peter K. Allen, Ph. D*, Dennis L. Fowler, M.D.** *Department of Computer Science **Department of Surgery Columbia University, New York
Outline
Motivation Introduction Proposed Solution Prototype Device I and II Animal Tests Results and Conclusion Contributions and Future Work Acknowledgement
Robotic Surgery
Robotic surgery is future of surgery.
Increase the dexterity and fine motion capabilities of surgeon. Decrease the tremor of surgeons hand. Enable remote operation. Enormous size. Extremely high cost. Multiple assistants needed. Multiple incisions needed as non-robotic MIS.
Flexible Endoscope
Pill camera
Proposed Solution
An insertable surgical robot platform with sensors and effectors in the body cavity where they can perform surgical & imaging tasks unfettered by traditional endoscopic instrument design. A prototype of a novel insertable Pan/Tilt endoscope with integrated light source. The incision port is left open access, allowing for single
port surgery.
Prototype Device I
Stereo camera with 6 DOF are desirable full mobility Difficult to achieve in small actuated package Compromise 3 DOF per camera Cameras share tilt axis (1 DOF) Independent translation (2 DOF) Independent pan (2 DOF)
Video
Needs light source Make imaging head modular design Tradeoff: Degrees-of-freedom for compactness
Prototype II
110 mm in length and 11 mm in diameter. 120 degrees Pan/ 90 degrees Tilt. Integrated 8 LED light source and miniature camera module. Package to protect the delicate electronics and fragile wires from body fluid and moisture.
Fully sealed camera module. Joint sealed by rubber boot.
Joystick control.
Prototype II (Cont.)
Camera Module
Pan/Tilt Mechanism
Miniature Brushless DC motor (0513G, Faulhaber Group). 25mNm output torque. 5.8 mm in diameter. Miniature worm gear (Kleiss Gear Inc.) Gear ratio 16:1. Compact size. Increased torque.
Laparoscopic Procedures
Appendectomy
Video
Suturing
Nephrectomy
Conclusion
Easier and more intuitive to use than a standard laparoscope. Joystick operation requires no specialized operator training. Field of view and access to relevant regions of the body were superior to a standard laparoscope using a single port. Time to perform procedures was better or equivalent to a standard laparoscope.
Future Work
Camera with zoom and auto-focusing capabilities. Stereo camera in one package. Function with tool or organ tracking.
Acknowledgement
We thank Nancy Hogle for her help in project development and lab support. This work was supported by NIH grant 1R21EB004999-01A1.