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

Title
An active endoscope with small sweep volume that preserves image orientation for arthroscopic surgery
Authors
김계리김정률류근웅박철민
Keywords
active endoscope; arthroscopic surgery; hand-held device; microsurgery; surgical robot
Issue Date
2021-02
Publisher
International Journal of Medical Robotics and Computer Assisted Surgery
Citation
VOL 17, NO 1-9
Abstract
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 thumb­operated 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 low­resolution image sensor is attached to endoscope tooltips. In the future, we will develop a high­resolution image module equipped with an ultra­small complementary metal oxide semiconductor sensor.
URI
http://pubs.kist.re.kr/handle/201004/72039
ISSN
1478-5951
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE