Design and Evaluation for a Soft Intra-Abdominal Wireless Laparoscope

IF 3.4 Q2 ENGINEERING, BIOMEDICAL IEEE transactions on medical robotics and bionics Pub Date : 2024-04-18 DOI:10.1109/TMRB.2024.3391048
Hui Liu;Ning Li;Shuai Li;Gregory J. Mancini;Jindong Tan
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Abstract

In single-incision laparoscopic surgery (SILS), magnetic anchoring and guidance system (MAGS) is a promising technique to prevent clutter in the surgical workspace and provide a larger vision field. Existing camera designs mainly rely on a rigid structure and sliding motion, which may cause stress concentration and tissue damage on curved abdominal walls. Meanwhile, the insertion procedure is also challenging. In this paper, we proposed a wireless MAGS consisting of soft material and wheel structure design. The camera can passively bend and adapt to the curved tissue surface to relieve stress concentration. The wheel structure transfers the sliding motion to rolling motion when the camera tilts and translates, avoiding tissue rupture due to dry friction and facilitating smooth motion. The experiments show the novel laparoscope has dexterous locomotion and bendability with 20° in bending angle and $16.4mm$ in displacement. The maximum stress is reduced by 64% compared with rigid designs. An easy and safe insertion procedure based on soft property is also introduced, which takes less than 2 minutes on average without the assistance of additional instruments.
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腹腔内软性无线腹腔镜的设计与评估
在单切口腹腔镜手术(SILS)中,磁性锚定和制导系统(MAGS)是一种很有前途的技术,可防止手术工作区杂乱无章,并提供更大的视野。现有的摄像头设计主要依赖于刚性结构和滑动运动,这可能会导致应力集中并对弯曲的腹壁造成组织损伤。同时,插入过程也具有挑战性。本文提出了一种由软性材料和轮式结构设计组成的无线 MAGS。摄像头可被动弯曲并适应弯曲的组织表面,以缓解应力集中。当摄像头倾斜和平移时,滚轮结构将滑动运动转变为滚动运动,避免了干摩擦造成的组织破裂,使运动更加平稳。实验表明,新型腹腔镜具有灵巧的运动和弯曲能力,弯曲角度为 20°,位移量为 16.4mm$。与刚性设计相比,最大应力降低了 64%。此外,还介绍了一种基于软特性的简便安全的插入程序,无需额外器械辅助,平均耗时不到 2 分钟。
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6.80
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Table of Contents IEEE Transactions on Medical Robotics and Bionics Society Information Guest Editorial Special section on the Hamlyn Symposium 2023—Immersive Tech: The Future of Medicine IEEE Transactions on Medical Robotics and Bionics Publication Information IEEE Transactions on Medical Robotics and Bionics Information for Authors
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