Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 25, Issue 3, Pages 1531-1542Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.2978538
Keywords
Endoscopes; Surgery; Cavity resonators; Cameras; Instruments; Manipulators; Automatic control; kinematic modeling; magnetic anchored and guided system (MAGS); minimally invasive surgery (MIS); soft-bodied endoscope
Categories
Funding
- Hong Kong Innovative Technology Fund [ITS/126/16, ITS/424/17]
- Hong Kong Research Grants Council General Research Fund [14207017, 24204818]
Ask authors/readers for more resources
In minimally invasive surgery (MIS), a number of instruments are inserted into the surgical cavity via the trocar(s), which makes the surgical site crowded and instruments tend to fence with each other. In addition, the motion of the endoscope is restricted by the trocar, which limits the field of view of the endoscope. To alleviate these problems, magnetic anchored and guided systems (MAGSs) have been proposed. Conventional MAGSs are built from rigid materials with small actuators and sensors. As a result, these MAGSs tend to be heavy, complex, difficult to make, and costly. In this article, we first present a soft-bodied MAGS endoscope weighing 13 g, which is made up of printable silicon rubber with embedded magnets and a camera module. The usage of soft 3-D printable material significantly reduces the complexity of the MAGS endoscope. The soft-bodied MAGS endoscope can be anchored and steered by an external magnet controlled by a serial-link robot arm. The kinematic modeling of the soft-bodied MAGS endoscope is developed. Visual servo based automatic instruments tracking of the soft-bodied MAGS endoscope is achieved for the first time. Experimental results validate that the soft-bodied MAGS endoscope can guide surgical instruments, showing its high potentials in MIS.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available