An active endoscope with small sweep volume that preserves image orientation for arthroscopic surgery

Background Microsurgery is generally performed in narrow spaces with limited movement. Endoscopes that allow for angle changes have been developed using elastic materials, but they require a large bending space. We propose a new endoscope with a small sweep volume for angle changes. Methods We fabri...

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Published in:The international journal of medical robotics + computer assisted surgery 2021-02, Vol.17 (1), p.1-9
Main Authors: Ryu, Geunwoong, Kim, Jeongryul, Park, Chulmin, Kim, Keri
Format: Article
Language:English
Subjects:
active endoscope
arthroscopic surgery
CMOS
Endoscopes
hand‐held device
Health care facilities
Inverse kinematics
microsurgery
Sensors
surgical robot
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container_title The international journal of medical robotics + computer assisted surgery
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creator Ryu, Geunwoong
Kim, Jeongryul
Park, Chulmin
Kim, Keri
description Background Microsurgery is generally performed in narrow spaces with limited movement. Endoscopes that allow for angle changes have been developed using elastic materials, but they require a large bending space. We propose a new endoscope with a small sweep volume for angle changes. Methods We fabricated a prototype with a thumb‐operated joystick. The image sensor is attached to the tooltip. The image signal is input to a motor control board which computes inverse kinematics and transforms it into joint angle values. Each axis is positioned according to these values. Results The tooltip sweeping volume was 104 mm3. Surgeons at the Asan Medical Center used our endoscope to obtain images of the biceps tendon and subscapularis joints of a cadaver. Conclusion Currently, a low‐resolution image sensor is attached to endoscope tooltips. In the future, we will develop a high‐resolution image module equipped with an ultra‐small complementary metal oxide semiconductor sensor.
doi_str_mv 10.1002/rcs.2183
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Endoscopes that allow for angle changes have been developed using elastic materials, but they require a large bending space. We propose a new endoscope with a small sweep volume for angle changes. Methods We fabricated a prototype with a thumb‐operated joystick. The image sensor is attached to the tooltip. The image signal is input to a motor control board which computes inverse kinematics and transforms it into joint angle values. Each axis is positioned according to these values. Results The tooltip sweeping volume was 104 mm3. Surgeons at the Asan Medical Center used our endoscope to obtain images of the biceps tendon and subscapularis joints of a cadaver. Conclusion Currently, a low‐resolution image sensor is attached to endoscope tooltips. 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subjects active endoscope
arthroscopic surgery
CMOS
Endoscopes
hand‐held device
Health care facilities
Inverse kinematics
microsurgery
Sensors
surgical robot
title An active endoscope with small sweep volume that preserves image orientation for arthroscopic surgery
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