Technical Briefs

Foldable Surgical Stereo Microendoscope With Continuously Adjustable Convergence

[+] Author and Article Information
Matteo Zoppi

PMAR Robotics,  University of Genoa Genoa, Italyzoppi@dimec.unige.it

Paolo Trifiletti

PMAR Robotics and PMAR Surgical  University of Genoa Genoa, Italytrifiletti@dimec.unige.it

Rezia Molfino

PMAR Robotics,  University of Genoa Genoa, Italymolfino@dimec.unige.it

J. Med. Devices 6(1), 014501 (Mar 13, 2012) (6 pages) doi:10.1115/1.4005808 History: Received March 23, 2010; Revised May 10, 2010; Published March 12, 2012; Online March 13, 2012

The paper presents a new design of a stereo endoscope for minimally invasive surgery with: cameras positioned at the tip of the instrument (inside the patient), angle of convergence of the optical axes of the cameras variable continuously, and a foldable mechanism reducing the outer diameter of the endoscope to almost the diameter of the single camera in order to reduce the size of the insertion port. After the insertion the endoscope is deployed and the two cameras move side by side. A very simple compliant mechanism is used to drive the deployment and the adjustment of the convergence angle.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

Schematic of the motion of the new endoscope: folded (left) to deployed (right)

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Figure 2

Schematic of the endoscope architecture with rear vision sensor movable

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Figure 3

Views of the endoscope: assembly, exploded, and section with the tip in bent configuration

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Figure 4

Frontal camera frame assembled with the preformed actuation spring wire inserted and in relaxed configuration

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Figure 5

Sequence of insertion and deployment in the patient’s body

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Figure 6

Schematic of conventional and asymmetric convergence modes. (a) distance between boards (10, 30, and 50 mm) and (b) contrast strip. Distance cameras—boards 1000 to 1800 mm.

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Figure 7

Comparative evaluation of the conventional and asymmetric modes with fixed (top) and adapted (bottom) convergence



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