In-vivo pan/tilt endoscope with integrated light source

Endoscopic imaging is still dominated by the paradigm of pushing long sticks into small openings. This approach has a number of limitations for minimal access surgery, such as narrow angle imaging, limited workspace, counter-intuitive motions and additional incisions for the endoscpic instruments. Our intent is to go beyond this paradigm, and remotize sensors and effectors directly into the body cavity. To this end, we have developed a prototype of a novel insertable pan/tilt endoscopic camera with an integrated light source. The package has a size of 110 mm in length and 10 mm in diameter and can be inserted into the abdomen through a standard trocar and then anchored onto the abdominal wall, leaving the incision port open for access. The camera package contains three parts: an imaging module, an illumination module, and a pan/tilt motion platform. The imaging module includes a lens and CCD imaging sensor. The illumination module attaches to the imaging module and has an array of LED light sources. The pan/tilt platform provides the imaging module with pan of 120 degrees and tilt motion of 90 degrees using small servo motors. A fixing mechanism is designed to hold the device in the cavity. A standard joy stick can be used to control the motion of the camera in a natural way. The design allows for multiple camera packages to be inserted through a single incision as well

In-vivo pan/tilt endoscope with integrated light source

Endoscopic imaging is still dominated by the paradigm of pushing long sticks into small openings. This approach has a number of limitations for minimal access surgery, such as narrow angle imaging, limited workspace, counter-intuitive motions and additional incisions for the endoscpic instruments. Our intent is to go beyond this paradigm, and remotize sensors and effectors directly into the body cavity. To this end, we have developed a prototype of a novel insertable pan/tilt endoscopic camera with an integrated light source. The package has a size of 110 mm in length and 10 mm in diameter and can be inserted into the abdomen through a standard trocar and then anchored onto the abdominal wall, leaving the incision port open for access. The camera package contains three parts: an imaging module, an illumination module, and a pan/tilt motion platform. The imaging module includes a lens and CCD imaging sensor. The illumination module attaches to the imaging module and has an array of LED light sources. The pan/tilt platform provides the imaging module with pan of 120 degrees and tilt motion of 90 degrees using small servo motors. A fixing mechanism is designed to hold the device in the cavity. A standard joy stick can be used to control the motion of the camera in a natural way. The design allows for multiple camera packages to be inserted through a single incision as well

Development of a stereo imaging system for three-dimensional shape measurement of crystals

Despite the availability of various Process Analytical Technologies (PAT) for measuring other particle properties, their inherit limitations for the measurement of crystal shape have been restricted. This has impacted, in turn, on the development and implementation of optimisation, monitoring and control of crystal shape and size distributions within particle formulation and processing systems In recent years, imaging systems have shown to be a very promising PAT technique for the measurement of crystal growth, but still essentially limited as a technique only to provide two-dimensional information. The idea of using two synchronized cameras to obtain 3D crystal shape was mentioned previously (Chem Eng Sci 63(5) 1171-1184, 2008) but no quantitative results were reported. In this paper, a methodology which can directly image the full three-dimensional shape of crystals has been developed. It is based on the mathematical principle that if the two-dimensional images of an object are obtained from two different angles, the full three-dimensional crystal shape can be reconstructed. A proof of concept study has been carried out to demonstrate the potentials in using the system for the three-dimensional measurement of crystals

sCAM: An Untethered Insertable Laparoscopic Surgical Camera Robot

Fully insertable robotic imaging devices represent a promising future of minimally invasive laparoscopic vision. Emerging research efforts in this field have resulted in several proof-of-concept prototypes. One common drawback of these designs derives from their clumsy tethering wires which not only cause operational interference but also reduce camera mobility. Meanwhile, these insertable laparoscopic cameras are manipulated without any pose information or haptic feedback, which results in open loop motion control and raises concerns about surgical safety caused by inappropriate use of force.This dissertation proposes, implements, and validates an untethered insertable laparoscopic surgical camera (sCAM) robot. Contributions presented in this work include: (1) feasibility of an untethered fully insertable laparoscopic surgical camera, (2) camera-tissue interaction characterization and force sensing, (3) pose estimation, visualization, and feedback with sCAM, and (4) robotic-assisted closed-loop laparoscopic camera control. Borrowing the principle of spherical motors, camera anchoring and actuation are achieved through transabdominal magnetic coupling in a stator-rotor manner. To avoid the tethering wires, laparoscopic vision and control communication are realized with dedicated wireless links based on onboard power. A non-invasive indirect approach is proposed to provide real-time camera-tissue interaction force measurement, which, assisted by camera-tissue interaction modeling, predicts stress distribution over the tissue surface. Meanwhile, the camera pose is remotely estimated and visualized using complementary filtering based on onboard motion sensing. Facilitated by the force measurement and pose estimation, robotic-assisted closed-loop control has been realized in a double-loop control scheme with shared autonomy between surgeons and the robotic controller.The sCAM has brought robotic laparoscopic imaging one step further toward less invasiveness and more dexterity. Initial ex vivo test results have verified functions of the implemented sCAM design and the proposed force measurement and pose estimation approaches, demonstrating the technical feasibility of a tetherless insertable laparoscopic camera. Robotic-assisted control has shown its potential to free surgeons from low-level intricate camera manipulation workload and improve precision and intuitiveness in laparoscopic imaging

Towards Highly-Integrated Stereovideoscopy for \u3ci\u3ein vivo\u3c/i\u3e Surgical Robots

When compared to traditional surgery, laparoscopic procedures result in better patient outcomes: shorter recovery, reduced post-operative pain, and less trauma to incisioned tissue. Unfortunately, laparoscopic procedures require specialized training for surgeons, as these minimally-invasive procedures provide an operating environment that has limited dexterity and limited vision. Advanced surgical robotics platforms can make minimally-invasive techniques safer and easier for the surgeon to complete successfully. The most common type of surgical robotics platforms -- the laparoscopic robots -- accomplish this with multi-degree-of-freedom manipulators that are capable of a diversified set of movements when compared to traditional laparoscopic instruments. Also, these laparoscopic robots allow for advanced kinematic translation techniques that allow the surgeon to focus on the surgical site, while the robot calculates the best possible joint positions to complete any surgical motion. An important component of these systems is the endoscopic system used to transmit a live view of the surgical environment to the surgeon. Coupled with 3D high-definition endoscopic cameras, the entirety of the platform, in effect, eliminates the peculiarities associated with laparoscopic procedures, which allows less-skilled surgeons to complete minimally-invasive surgical procedures quickly and accurately. A much newer approach to performing minimally-invasive surgery is the idea of using in-vivo surgical robots -- small robots that are inserted directly into the patient through a single, small incision; once inside, an in-vivo robot can perform surgery at arbitrary positions, with a much wider range of motion. While laparoscopic robots can harness traditional endoscopic video solutions, these in-vivo robots require a fundamentally different video solution that is as flexible as possible and free of bulky cables or fiber optics. This requires a miniaturized videoscopy system that incorporates an image sensor with a transceiver; because of severe size constraints, this system should be deeply embedded into the robotics platform. Here, early results are presented from the integration of a miniature stereoscopic camera into an in-vivo surgical robotics platform. A 26mm X 24mm stereo camera was designed and manufactured. The proposed device features USB connectivity and 1280 X 720 resolution at 30 fps. Resolution testing indicates the device performs much better than similarly-priced analog cameras. Suitability of the platform for 3D computer vision tasks -- including stereo reconstruction -- is examined. The platform was also tested in a living porcine model at the University of Nebraska Medical Center. Results from this experiment suggest that while the platform performs well in controlled, static environments, further work is required to obtain usable results in true surgeries. Concluding, several ideas for improvement are presented, along with a discussion of core challenges associated with the platform. Adviser: Lance C. Pérez [Document = 28 Mb

Development of An In Vivo Robotic Camera for Dexterous Manipulation and Clear Imaging

Minimally invasive surgeriy (MIS) techniques are becoming more popular as replacements for traditional open surgeries. These methods benefit patients with lowering blood loss and post-operative pain, reducing recovery period and hospital stay time, decreasing surgical area scarring and cosmetic issues, and lessening the treatment costs, hence greater patient satisfaction would be earned. Manipulating surgical instruments from outside of abdomen and performing surgery needs precise hand-eye coordination which is provided by insertable cameras. The traditional MIS insertable cameras suffer from port complexity and reduced manipulation dexterity, which leads to defection in Hand-eye coordination and surgical flow. Fully insertable robotic camera systems emerged as a promising solution in MIS. Implementing robotic camera systems faces multiple challenges in fixation, manipulation, orientation control, tool-tissue interaction, in vivo illumination and clear imaging.In this dissertation a novel actuation and control mechanism is developed and validated for an insertable laparoscopic camera. This design uses permanent magnets and coils as force/torque generators in an external control unit to manipulate an in vivo camera capsule. The motorless design of this capsule reduces the, wight, size and power consumption of the driven unit. In order to guarantee the smooth motion of the camera inside the abdominal cavity, an interaction force control method was proposed and validated.Optimizing the system\u27s design, through minimizing the control unit size and power consumption and extending maneuverability of insertable camera, was achieved by a novel transformable design, which uses a single permanent magnet in the control unit. The camera robot uses a permanent magnet as fixation and translation unit, and two embedded motor for tilt motion actuation, as well as illumination actuation. Transformable design provides superior imaging quality through an optimized illumination unit and a cleaning module. The illumination module uses freeform optical lenses to control light beams from the LEDs to achieve optimized illumination over surgical zone. The cleaning module prevents lens contamination through a pump actuated debris prevention system, while mechanically wipes the lens in case of contamination. The performance of transformable design and its modules have been assessed experimentally

Design and Experimental Evaluation of a Single Incision Laparoscopic Surgery Camera System for Minimally Invasive Surgery

Single incision laparoscopic surgery (SILS) offers many benefits over traditional open surgery. SILS is a type of minimally invasive surgery (MIS) which aims to reduce patient trauma by decreasing the number of incisions required for a surgical operation down to one located at the belly button (umbilicus). This offers patient benefits including reduced trauma, risk of infection, post-operative pain, scaring, and a shorter recovery time. SILS remains surgically challenging due to limited surgical tool motion and positioning of the traditional laparoscope through the SILS entry incision. The SILS-specific camera systems presented here integrates all the features of a laparoscopic vision system into a small, inexpensive, portable package that enables point-of-care applications, does not compete for space with the surgical tools, and removes the need for a dedicated laparoscope port. Two different designs were developed by incorporating a camera and viewing system directly into the SILS port (SILS Port Camera) and then by completely decoupling the camera and viewing system from the SILS port (SILS Magnet Camera). Each approach was developed into a prototype and experimentally tested in order to prove initial feasibility and functionality of the device as compared to the traditional industry SILS laparoscopic setup. The first functionality test was performed using an ex vivo participant study pitting the SILS camera against a traditional laparoscopic set up over two different surgical tasks, ball drop and cutting tasks. The participant study indicated the SILS Port Camera performs similarly to a typical SILS setup. However the SILS Magnet Camera approach showed a significant improvement in functionality when compared with the traditional SILS setup. Both devices were tested in an in vivo porcine model by a practicing surgeon. The SILS Port Camera resulted in a premature termination of a cholecystectomy due to tool interference and poor view of the surgical site. The SILS Magnet Camera allowed for successful cystic duct resection and liver biopsy. The surgeon noted increased viewing capacity from the cameras pan/tilt system, enhanced camera system mobility offered by the magnets, the increased range and movement for his hands, and the ability to use the extra port for a third tool for liver retraction

Predictive Modeling of Tissue Mechanical Response for Rolling Motion

The application of miniature, in vivo wheeled surgical robots placed inside the abdominal cavities may improve and expand the application of minimally invasive surgery (MIS). Study of robotic mobility is necessary to advance this work by providing good criteria for performance evaluation of wheel pattern design strategies. The research reported aims at the development of an analytical base model of rolling motion on tissue and verification of model effectiveness through experimental and computational methods. The results derived in this work are anticipated to be used as the foundation of a more detailed and specific analytical model, and provide guidance for future wheel pattern design of in vivo surgical robots