Visual feedback during laparoscopic surgery is provided by an endoscope with a camera that is inserted through a small incision in the abdominal wall. The incision restricts the endoscope movements to 4 degrees of freedom (DOF), making it impossible to observe organs from different sides. This paper describes two 6 DOF steerable endoscopes that contain a new spatial parallelogram-mechanism to transform the handgrip movements into movements of the steerable tip. Part of the mechanism is a new kind of spring that combines high torsion stiffness with a low bending stiffness. The endoscopes and the spring have been applied for two international patents.
Design of Steerable Endoscopes to Improve the Visual Perception of Depth During Laparoscopic Surgery
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 2002. Associate Editor: D. C. H. Yang.
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Breedveld, P., and Hirose, S. (March 11, 2004). "Design of Steerable Endoscopes to Improve the Visual Perception of Depth During Laparoscopic Surgery ." ASME. J. Mech. Des. January 2004; 126(1): 2–5. https://doi.org/10.1115/1.1637658
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