Fine orientation control of an insertable robotic camera system for single incision laparoscopic surgery

Reza Yazdanpanah Abdolmalaki, Xiaolong Liu, Gregory Mancini, Jindong Tan

Research output: Contribution to journalArticle

Abstract

Background: Insertable laparoscopic camera systems were developed to improve the minimally invasive surgeries. Robotic degrees of freedom for an insertable laparoscopic camera are required to adjust the camera's orientation and position inside an abdominal cavity. Methods: This paper demonstrates an insertable magnetic actuated robotic camera system with two-degree-of-freedom (2-DoF) orientation control for single incision laparoscopic surgery. The camera system design consists of an external magnetic control unit and a fully insertable camera capsule. This system features a unified mechanism for anchoring, navigating, and rotating the insertable camera capsule by externally generated rotational magnetic field from the control unit. The motor-free camera capsule is encapsulated in an one-piece housing with two ring-shaped tail-end magnets and one cylindrical central magnet. The control unit that positioned externally consists of both permanent magnets and electromagnetic coils to generate rotational magnetic field and control the camera capsule. Results: The experimental investigations indicated that the camera control system can achieve less than 1° control accuracies with average errors 0.594° and 0.524° for tilt motion and pan motion, respectively. Conclusion: The designed control system provides fine orientation control for the insertable camera capsule which guarantees proper vision for the surgeon during single incision laparoscopic surgery.

Original languageEnglish (US)
Article numbere1957
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume15
Issue number1
DOIs
StatePublished - Feb 1 2019

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Robotics
Laparoscopy
Surgery
Capsules
Cameras
Magnets
Magnetic Fields
Minimally Invasive Surgical Procedures
Abdominal Cavity
Electromagnetic Phenomena
Degrees of freedom (mechanics)
Magnetic fields
Control systems
Permanent magnets
Systems analysis

All Science Journal Classification (ASJC) codes

  • Surgery
  • Biophysics
  • Computer Science Applications

Cite this

Fine orientation control of an insertable robotic camera system for single incision laparoscopic surgery. / Yazdanpanah Abdolmalaki, Reza; Liu, Xiaolong; Mancini, Gregory; Tan, Jindong.

In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 15, No. 1, e1957, 01.02.2019.

Research output: Contribution to journalArticle

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