Preliminary design of an actuated imaging probe for generation of additional visual cues in a robotic surgery
Author | Velasquez, Carlos A. |
Author | Navkar, Nikhil V. |
Author | Alsaied, Amer |
Author | Balakrishnan, Shidin |
Author | Abinahed, Julien |
Author | Al-Ansari, Abdulla A. |
Author | Yoon , W. Jong |
Available date | 2021-09-01T10:03:31Z |
Publication Date | 2016 |
Publication Name | Surgical Endoscopy |
Resource | Scopus |
Abstract | Background The aim of this study was to enhance the visual feedback of surgeons, during robotic surgeries, by designing and developing an actuated 2D imaging probe, which is used in conjunction with the traditional stereoscopic camera of the da Vinci surgical system. The probe provides the surgeon with additional visual cues, overcoming visualization constraints encountered during certain scenarios of robot-assisted minimally invasive surgery. Methods The actuated imaging probe is implemented as a master–slave tele-manipulated system, and it is designed to be compatible with the da Vinci surgical system. The detachable probe design enables it to be mounted on any of the EndoWrist® instruments of the robot and is controlled by the surgeon using a custom-made pedal system. The image from the 2D probe is rendered along with the stereoscopic view on the surgeon’s console. Results The experimental results demonstrate the effectiveness of the proposed actuated imaging probe when used as an additional visualization channel and in surgical scenarios presenting visual problems due to tissue occlusion. Conclusion The study shows the potential benefits of an additional actuated imaging probe when used in conjunction with traditional surgical instruments to perform surgical tasks requiring visualization from multiple orientations and workspaces. |
Sponsor | Acknowledgments This work was partially supported by the National Priorities Research Program (NPRP) under Grant NPRP 09-776-2-298 from the Qatar National Research Fund (a member of Qatar Foundation). The statements made herein are solely the responsibility of the authors. We would like to thank Dr. Jean-Marc Peyrat for his assistance in the experiments. |
Language | en |
Publisher | Springer New York LLC |
Subject | Article association laparoscopic surgical instrument minimally invasive surgery priority journal robotic surgical procedure surgeon visual feedback computer assisted surgery depth perception devices equipment design feedback system human learning curve robotic surgical procedure Depth Perception Equipment Design Feedback Humans Learning Curve Robotic Surgical Procedures Surgery, Computer-Assisted |
Type | Article |
Pagination | 2641-2648 |
Issue Number | 6 |
Volume Number | 30 |
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Mechanical & Industrial Engineering [1343 items ]