Development of Wide-Angle-View Laparoscope Using Wedge Prisms

Takemasa Hashimoto; Etsuko Kobayashi; Ichiro Sakuma; Kazuhiko Shinohara; Makoto Hashizume; Takeyoshi Dohi

doi:10.20965/jrm.2004.p0129

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JRM Vol.16 No.2 pp. 129-137

doi: 10.20965/jrm.2004.p0129

(2004)

Paper:

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Development of Wide-Angle-View Laparoscope Using Wedge Prisms

Takemasa Hashimoto^, Etsuko Kobayashi^,
Ichiro Sakuma^, Kazuhiko Shinohara^, Makoto Hashizume^,
and Takeyoshi Dohi^****

^*Graduate School of Frontier Science, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

^**Katayanagi Laboratory, Tokyo University of Technology, 1401-1 Katakura, Hachioji, Tokyo 192-0982, Japan

^***Graduate School of Medical Sciences, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582, Japan

^****Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:

October 21, 2003

Accepted:

December 5, 2003

Published:

April 20, 2004

Keywords:

laparoscopic surgery, medical robot, minimally invasive surgery, endoscopy

Abstract

We describe a novel robotic laparoscope system. It can be used to observe a wide area without moving or bending the laparoscope. The system consists of an endoscope with zoom facility and two wedge prisms at the tip. This new concept produces excellent characteristics as follows. Firstly, it can change the field of view even in a small space. Secondly, it is safe because it avoids the possibility of hitting internal organs. Finally, because it does not require a large mechanism for manipulation of the endoscope, it does not obstruct the surgeon’s operation. We performed basic characteristics evaluation experiment and in-vivo experiment. During evaluation, we confirmed that the positioning accuracy and image quality were acceptable for clinical use.

Cite this article as:

T. Hashimoto, E. Kobayashi, <. Sakuma, K. Shinohara, M. Hashizume, and <. Dohi, “Development of Wide-Angle-View Laparoscope Using Wedge Prisms,” J. Robot. Mechatron., Vol.16, No.2, pp. 129-137, 2004.

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References

[1] Questionnaire Survey about Laparoscopic Surgery-Report on the results of the 6th survey– Journal of Japan Society for Endoscopic Surgery 7(5): p.479, 2002.
[2] Finlay PA, Ornstein MH, “Controlling the Movement of a Surgical Laparoscope,” Engineering in Medicine & Biology Magazine 14(3): pp.289-299, 1995.
[3] Sackier JM, Wang Y, “Robotically Assisted Laparoscopic Surgery: From Concept to Development,” In: Taylor RH, Lavalee S, Burdea GC, Morges R (eds) Computer Integrated Surgery, The MIT Press, London: pp.577-580, 1995.
[4] Taylor RH, Funda J, Eldridge B, Gomory S, Gruben K, LaRose D, Talamini M, Kavossi L, Anderson JA, “Telerobotic Assistant for Laparoscopic Surgery,” In: Taylor RH, Lavalee S, Burdea GC, Morges R (eds) Computer Integrated Surgery, The MIT Press, London: pp.581-592, 1995.
[5] Kobayashi E, Masamune K, Sakuma I, Dohi T, Hashimoto D, “A New Safe Laparoscopic Manipulator System with a Five-Bar Linkage Mechanism and an Optical Zoom,” Computer Aided Surgery 4(4): pp.182-192, 1999.
[6] T. Yasunaga, M. Hashizume, T. Okuyama, K. Okita, E. Kobayashi, K. Konishi, T. Dohi, I. Sakuma, M. Shimada, Y. Maehara, S. Miyamoto, “Remote-Controlled Endoscope Positioning System, Naviot, for Endoscopic Surgery,” Proceedings of the 12d Conference of the Japan Society of Computer Aided Surgery: pp.131-132, 2003.
[7] Louis R. Kavoussi, Robert G. Moore, John B. Adams and Alan W. Partin, “Comparison of Robotic Versus Human Laparoscopic Camera Control,” The Journal of Urology 154: pp.2134-2136, 1995.
[8] Kavoussi LR, Moore RG, Adams BJ, Partin AW, “Comparison of Robotic Versus Human Laparoscopic Camera Control,” J Urol 154: pp.2134-2136, 1995.
[9] Robin J, Bompard D, Tronc F, Beaune J, Wahid F, Champsaur G, “Bilateral Internal Thoracic Artery Harvesting Under Robotic Video-Assistance,” Surg Endosc 15(7): pp.755-756, 2001.
[10] Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, Yoshihiko Nakamura, “Small Occupancy Robotic Mechanisms for Endoscopic Surgery,” Proc. of International Conference on Medical Computing and Computer Assisted Intervention (MICCAI2002): pp.75-82, 2002.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Questionnaire Survey about Laparoscopic Surgery-Report on the results of the 6th survey– Journal of Japan Society for Endoscopic Surgery 7(5): p.479, 2002.

[2] [2] Finlay PA, Ornstein MH, “Controlling the Movement of a Surgical Laparoscope,” Engineering in Medicine & Biology Magazine 14(3): pp.289-299, 1995.

[3] [3] Sackier JM, Wang Y, “Robotically Assisted Laparoscopic Surgery: From Concept to Development,” In: Taylor RH, Lavalee S, Burdea GC, Morges R (eds) Computer Integrated Surgery, The MIT Press, London: pp.577-580, 1995.

[4] [4] Taylor RH, Funda J, Eldridge B, Gomory S, Gruben K, LaRose D, Talamini M, Kavossi L, Anderson JA, “Telerobotic Assistant for Laparoscopic Surgery,” In: Taylor RH, Lavalee S, Burdea GC, Morges R (eds) Computer Integrated Surgery, The MIT Press, London: pp.581-592, 1995.

[5] [5] Kobayashi E, Masamune K, Sakuma I, Dohi T, Hashimoto D, “A New Safe Laparoscopic Manipulator System with a Five-Bar Linkage Mechanism and an Optical Zoom,” Computer Aided Surgery 4(4): pp.182-192, 1999.

[6] [6] T. Yasunaga, M. Hashizume, T. Okuyama, K. Okita, E. Kobayashi, K. Konishi, T. Dohi, I. Sakuma, M. Shimada, Y. Maehara, S. Miyamoto, “Remote-Controlled Endoscope Positioning System, Naviot, for Endoscopic Surgery,” Proceedings of the 12d Conference of the Japan Society of Computer Aided Surgery: pp.131-132, 2003.

[7] [7] Louis R. Kavoussi, Robert G. Moore, John B. Adams and Alan W. Partin, “Comparison of Robotic Versus Human Laparoscopic Camera Control,” The Journal of Urology 154: pp.2134-2136, 1995.

[8] [8] Kavoussi LR, Moore RG, Adams BJ, Partin AW, “Comparison of Robotic Versus Human Laparoscopic Camera Control,” J Urol 154: pp.2134-2136, 1995.

[9] [9] Robin J, Bompard D, Tronc F, Beaune J, Wahid F, Champsaur G, “Bilateral Internal Thoracic Artery Harvesting Under Robotic Video-Assistance,” Surg Endosc 15(7): pp.755-756, 2001.

[10] [10] Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, Yoshihiko Nakamura, “Small Occupancy Robotic Mechanisms for Endoscopic Surgery,” Proc. of International Conference on Medical Computing and Computer Assisted Intervention (MICCAI2002): pp.75-82, 2002.

Development of Wide-Angle-View Laparoscope Using Wedge Prisms

Takemasa Hashimoto*, Etsuko Kobayashi*, Ichiro Sakuma*, Kazuhiko Shinohara**, Makoto Hashizume***, and Takeyoshi Dohi****

Takemasa Hashimoto^, Etsuko Kobayashi^,
Ichiro Sakuma^, Kazuhiko Shinohara^, Makoto Hashizume^,
and Takeyoshi Dohi^****