In-Vivo Pan/Tilt Endoscope with Integrated Light Source

Peter Allen, and Dennis Fowler*
Department of Computer Science
Department of Surgery*
Columbia University
Paper: Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting by Tie Hu, Peter Allen, Nancy Hogle and Dennis Fowler, International Journal of Robotics Research, Vol. 28, No. 10, 1373-1386 (2009).
This work was supported by NIH grant 1R21EB004999-01A1.
Endoscopic imaging is still dominated by the paradigm of pushing long sticks into small openings. This approach has a number of limitations for minimal access surgery, such as narrow angle imaging, limited workspace, counterintuitive motions and additional incisions for the endoscpic instruments. Our intent is to go beyond this paradigm, and remotize sensors and effectors directly into the body cavity. To this end, we have developed a prototype of a novel insertable pan/tilt endoscopic camera with an integrated light source. The package has a size of 110 mm in length and 10 mm in diameter and can be inserted into the abdomen through a standard trocar and then anchored onto the abdominal wall, leaving the incision port open for access. The camera package contains three parts: an imaging module, an illumination module, and a pan/tilt motion platform. The imaging module includes a lens and CCD imaging sensor. The illumination module attaches to the imaging module and has an array of LED light sources. The pan/tilt platform provides the imaging module with pan of 120 degrees and tilt motion of 90 degrees using small servo motors. A fixing mechanism is designed to hold the device in the cavity. A standard joy stick can be used to control the motion of the camera in a natural way. The design allows for multiple camera packages to be inserted through a single incision as well.


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