s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation
Fully insertable robotic imaging devices represent a promising future of minimally invasive laparoscopic vision. Emerging research efforts in this field have resulted in several proof-of-concept prototypes. One common drawback of these designs derives from their clumsy tethering wires which not only...
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MDPI AG
2022-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/9/3405 |
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| author | Ning Li Hui Liu Reza Yazdanpanah Abdolmalaki Gregory J. Mancini Jindong Tan |
| author_facet | Ning Li Hui Liu Reza Yazdanpanah Abdolmalaki Gregory J. Mancini Jindong Tan |
| author_sort | Ning Li |
| collection | DOAJ |
| description | Fully insertable robotic imaging devices represent a promising future of minimally invasive laparoscopic vision. Emerging research efforts in this field have resulted in several proof-of-concept prototypes. One common drawback of these designs derives from their clumsy tethering wires which not only cause operational interference but also reduce camera mobility. In this paper, a tetherless insertable surgical camera (s-CAM) robot with non-contact transabdominal actuation is presented for single-incision laparoscopic vision. Wireless video transmission and control communication using onboard power help eliminate cumbersome tethering wires. Furthermore, magnetic based camera actuation gets rid of intrinsic physical constraints of mechanical driving mechanisms, thereby improving camera mobility and reducing operational interference. In addition, a custom Bluetooth low energy (BLE) application profile and a real-time operating system (RTOS) based multitask programming framework are also proposed to facilitate embedded software design for insertable medical devices. Initial ex vivo test results of the s-CAM design have demonstrated technical feasibility of a tetherless insertable laparoscopic camera. Effective imaging is confirmed at as low as 500 lx illumination. Wireless laparoscopic vision is accessible within a distance of more than 10 m. Transabdominal BLE communication is stable at over −52 dBm and shows its potential for wireless control of insertable medical devices. RTOS based sfotware event response is bounded within 1 ms while the CPU usage is at 3∼5%. The device is able to work for 50 min with its onboard power. For the mobility, the robot can translate against the interior abdominal wall to reach full abdomen quadrants, tilt between −180<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula> and +180<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>, and pan in the range of 0<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>∼360<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>. The s-CAM has brought robotic laparoscopic imaging one step further toward less invasiveness and more dexterity. |
| first_indexed | 2024-03-10T03:41:04Z |
| format | Article |
| id | doaj.art-74a4abb6e66d4a7fbcd62ccfd04c7828 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:41:04Z |
| publishDate | 2022-04-01 |
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| spelling | doaj.art-74a4abb6e66d4a7fbcd62ccfd04c78282023-11-23T09:18:00ZengMDPI AGSensors1424-82202022-04-01229340510.3390/s22093405s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact ActuationNing Li0Hui Liu1Reza Yazdanpanah Abdolmalaki2Gregory J. Mancini3Jindong Tan4Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USADepartment of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USADepartment of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USAUniversity of Tennessee Medical Center, Knoxville, TN 37920, USADepartment of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USAFully insertable robotic imaging devices represent a promising future of minimally invasive laparoscopic vision. Emerging research efforts in this field have resulted in several proof-of-concept prototypes. One common drawback of these designs derives from their clumsy tethering wires which not only cause operational interference but also reduce camera mobility. In this paper, a tetherless insertable surgical camera (s-CAM) robot with non-contact transabdominal actuation is presented for single-incision laparoscopic vision. Wireless video transmission and control communication using onboard power help eliminate cumbersome tethering wires. Furthermore, magnetic based camera actuation gets rid of intrinsic physical constraints of mechanical driving mechanisms, thereby improving camera mobility and reducing operational interference. In addition, a custom Bluetooth low energy (BLE) application profile and a real-time operating system (RTOS) based multitask programming framework are also proposed to facilitate embedded software design for insertable medical devices. Initial ex vivo test results of the s-CAM design have demonstrated technical feasibility of a tetherless insertable laparoscopic camera. Effective imaging is confirmed at as low as 500 lx illumination. Wireless laparoscopic vision is accessible within a distance of more than 10 m. Transabdominal BLE communication is stable at over −52 dBm and shows its potential for wireless control of insertable medical devices. RTOS based sfotware event response is bounded within 1 ms while the CPU usage is at 3∼5%. The device is able to work for 50 min with its onboard power. For the mobility, the robot can translate against the interior abdominal wall to reach full abdomen quadrants, tilt between −180<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula> and +180<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>, and pan in the range of 0<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>∼360<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>. The s-CAM has brought robotic laparoscopic imaging one step further toward less invasiveness and more dexterity.https://www.mdpi.com/1424-8220/22/9/3405insertable laparoscopic camerarobotic-assisted surgeryminimally invasive surgerymedical robotics |
| spellingShingle | Ning Li Hui Liu Reza Yazdanpanah Abdolmalaki Gregory J. Mancini Jindong Tan s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation Sensors insertable laparoscopic camera robotic-assisted surgery minimally invasive surgery medical robotics |
| title | s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation |
| title_full | s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation |
| title_fullStr | s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation |
| title_full_unstemmed | s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation |
| title_short | s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation |
| title_sort | s cam an untethered insertable laparoscopic surgical camera robot with non contact actuation |
| topic | insertable laparoscopic camera robotic-assisted surgery minimally invasive surgery medical robotics |
| url | https://www.mdpi.com/1424-8220/22/9/3405 |
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