In-Vivo Stereoscopic Imaging System with 5 Degrees-of-Freedom for Minimal Access Surgery Andrew Miller, Ph.D. Peter Allen, Ph.D. Dennis Fowler, M.D. Dept. of Computer Science and Dept. of Surgery, Columbia University, New York, NY

Motivation & Goals Current endoscope limitations: Current endoscope limitations: 2D and narrow angle imaging 2D and narrow angle imaging Limited range of movement Limited range of movement Occupies incision Occupies incision Cameras and actuators have reduced in size Cameras and actuators have reduced in size Insert a device with multiple cameras and affix to interior abdominal wall Insert a device with multiple cameras and affix to interior abdominal wall Cameras move independently and provide a wide variety of views Cameras move independently and provide a wide variety of views Future: Add surgical tools as well Future: Add surgical tools as well * Funded by NYSTAR CAT seed grant and Karl Storz Inc.

Design Decisions Design Decisions Monocular or stereo? Monocular or stereo? What kind of actuators? What kind of actuators? Which degrees of freedom? Which degrees of freedom? How should it be packaged? How should it be packaged?

Initial Design

Initial Prototype

Components: Shuttle Ball bearing camera contacts Translation lead screw Camera driver board Pan axis motor & lead screw (underneath)

Components: Inner Shell Translation motor Tilt motor Brass traces for camera contacts

Components: Outer Shell Gearing for tilt axis Needle to be placed on underside

Components: Actuators & Camera

User Interface Joystick controls individual axes Joystick controls individual axes Future: Future: Voice commands Voice commands Semi-autonomous operation by tracking user identified feature Semi-autonomous operation by tracking user identified feature Automatic view planning Automatic view planning

Future Work Test different strategies for affixing device to abdominal wall Test different strategies for affixing device to abdominal wall Evaluate different sterilization procedures Evaluate different sterilization procedures Examine possibility of adding a light source Examine possibility of adding a light source Develop human-computer interface Develop human-computer interface Evaluate ease of use as tool in operating room Evaluate ease of use as tool in operating room