An active endoscope with small sweep volume that preserves image orientation for arthroscopic surgery
- An active endoscope with small sweep volume that preserves image orientation for arthroscopic surgery
- 김계리; 김정률; 류근웅; 박철민
- active endoscope; arthroscopic surgery; hand-held device; microsurgery; surgical robot
- Issue Date
- International Journal of Medical Robotics and Computer Assisted Surgery
- VOL 17, NO 1-9
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.
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.
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.
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.
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