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An active endoscope with small sweep volume that preserves image orientation for arthroscopic surgery
Author(s) -
Ryu Geunwoong,
Kim Jeongryul,
Park Chulmin,
Kim Keri
Publication year - 2021
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2183
Subject(s) - endoscope , orientation (vector space) , computer science , computer vision , biomedical engineering , biceps , volume (thermodynamics) , kinematics , cadaver , artificial intelligence , materials science , surgery , medicine , physics , mathematics , geometry , quantum mechanics , classical mechanics
Abstract Background Microsurgery is generally performed in narrow spaces with limited movement. Endoscopes that allow for angle changes have been developed using elastic materials, but they require a large bending space. We propose a new endoscope with a small sweep volume for angle changes. Methods We fabricated a prototype with a thumb‐operated joystick. The image sensor is attached to the tooltip. The image signal is input to a motor control board which computes inverse kinematics and transforms it into joint angle values. Each axis is positioned according to these values. Results The tooltip sweeping volume was 104 mm 3 . Surgeons at the Asan Medical Center used our endoscope to obtain images of the biceps tendon and subscapularis joints of a cadaver. Conclusion Currently, a low‐resolution image sensor is attached to endoscope tooltips. In the future, we will develop a high‐resolution image module equipped with an ultra‐small complementary metal oxide semiconductor sensor.