A WIRELESS ROBOT FOR NETWORKED LAPAROSCOPY Presented By : Abdul Adhil B.A. Roll No. : 01 Guided By : Mr. Sanoj Viswasom

CONTENT  Introduction  Limitations in Standard Endoscopy  Marvel System: Overview & Working  Camera Module & Sub-system  Experimental Evaluation  Future Development  Conclusion  References

LAPAROSCOPIC SURGERY Operations in the abdomen are performed through small incisions (usually 0.5–1.5 cm). Makes use of images displayed on TV monitors to magnify the surgical elements. Reduced pain & hemorrhaging. Shorter recovery time. Reduced exposure of internal organs to possible external contaminants.

Limitations of Standard Endoscope Paradigm of pushing long sticks into small openings – Narrow angle imaging – Limited workspace. – Assistants needed to control the camera. – Counter intuitive motion.

MARVEL System (Miniature Anchored Robotic Videoscope for Expedited Laparoscopy  What we aim to overcome through MARVEL??  Cable-free platform  Better visualisation  Frees a port in multiport access trocar  Greater dexterity for surgeons  Elimination of assistant to control scope

PARTS OF SYSTEM Human Machine Interface(HMI) Camera Module Master Control Module(MCM) IRT(insertion & removal) Monitor

WORKING

CM SUBSYSTEMS Illumination Imaging Communication Embedded Control Attachment needle power

ILLUMINATION SUBSYSTEM 6 LEDs  High-Efficiency white LEDs  Temp = 5000°C- 8300°C Reflector Array Heat Sink

CHARACTERIZATION Using TracePro software Comparison With test bench experiment

VIDEO IMAGING SYSTEM Customized Sunex lens holder Sunex lens  focal length of 4.37  focal range 60 and 100 mm Liquid Crystal Lens Image sensor  sensitivity of 4.6 V/Luxsec  imaging array of 510 × 496 pixels,  a pixel size of9.2 μm × 7.2 μm.

OPTICAL TEST BENCH  Focus and Sharpness at different position  Zoom range without loss

INTERCONNECTION & COMMUNICATION SYSTEM five PCBs in modular design two digital control buses (I2C and SPI) Two communication links  For control action  Analog link between image sensor and external receiver

WIRELESS CHANNEL MODEL ANSYS HFSS  High frequency electro magnetic field simulator  Calculates total RF field in 3D SPACE  Provide a human body model  Calculation of impulse channel response

EMBEDDED CONTROL SYSTEM Serial peripheral interface(SPI)  Receives signals from digital transceiver H Bridged motor driver for pan and tilt movement  Implemented by PWM signals Semiconductor step-up convertor  Control the intensity of LEDs

ATTATCHMENT AND POWER SYSTEM Needle which is a part of camera Attachment module with compression mechanism Power is supplied through coaxial cable

EXPERIMENTAL EVALUATION Conducted on a porcine animal To test illumination, image quality, communication, wireless control Power dissipation Comparison with in vivo and external measurement  30db difference in signal strength  Central frequency is shifted

FUTURE WORK Electronics component with low temperature coefficient Integrate motion detection and image stabilization CM powered by internal battery Wireless transmission of HD video Illumination system with blue and green light

CONCLUSION Intended to advance MIS in robotic videoscopes Wireless actuator control Wireless and cable free videoscope Wireless illumination control Enhanced view inside abdominal cavity Wireless HMI Software simulation and system characterization

REFERENCE C. A. Castro, “MARVEL: A wireless miniature anchored robotic videoscope for expedited laparoscopy,” in Proc. IEEE Int.Conf. Robot. Autom., May 2012, pp. 2926–2931. ANSYS, Inc., PA, (Nov. 22, 2011) “ANSYS HFSS,” [Online]. Available: T. P. Ketterl, “In Vivo wireless communication channels,” in Proc. IEEE 13th Annu. Wireless Microwave Technol. Conf., 2012, pp. 1–3. Lambda Research Corporation, MA (2010). “TRACEPRO,” [Online]. Available:

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