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Preliminary design of an actuated imaging probe for generation of additional visual cues in a robotic surgery

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Abstract

Background

The aim of this study was to enhance the visual feedback of surgeons, during robotic surgeries, by designing and developing an actuated 2D imaging probe, which is used in conjunction with the traditional stereoscopic camera of the da Vinci surgical system. The probe provides the surgeon with additional visual cues, overcoming visualization constraints encountered during certain scenarios of robot-assisted minimally invasive surgery.

Methods

The actuated imaging probe is implemented as a master–slave tele-manipulated system, and it is designed to be compatible with the da Vinci surgical system. The detachable probe design enables it to be mounted on any of the EndoWrist® instruments of the robot and is controlled by the surgeon using a custom-made pedal system. The image from the 2D probe is rendered along with the stereoscopic view on the surgeon’s console.

Results

The experimental results demonstrate the effectiveness of the proposed actuated imaging probe when used as an additional visualization channel and in surgical scenarios presenting visual problems due to tissue occlusion.

Conclusion

The study shows the potential benefits of an additional actuated imaging probe when used in conjunction with traditional surgical instruments to perform surgical tasks requiring visualization from multiple orientations and workspaces.

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Acknowledgments

This work was partially supported by the National Priorities Research Program (NPRP) under Grant NPRP 09-776-2-298 from the Qatar National Research Fund (a member of Qatar Foundation). The statements made herein are solely the responsibility of the authors. We would like to thank Dr. Jean-Marc Peyrat for his assistance in the experiments.

Disclosures

Drs. Carlos A. Velasquez, Nikhil V. Navkar, Amer Alsaied, Shidin Balakrishnan, Julien Abinahed, Abdulla A. Al-Ansari, and W. Jong Yoon have no conflict of interest or financial ties to disclose.

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Author notes

  1. Carlos A. Velasquez

    Present address: Medical Research Division, Hamad Medical Corporation, Doha, Qatar

  2. W. Jong Yoon

    Present address: Mechanical Engineering, School of STEM, University of Washington, Bothell, WA, USA

Authors and Affiliations

  1. Department of Mechanical and Industrial Engineering, Qatar University, Doha, Qatar

    Carlos A. Velasquez & W. Jong Yoon

  2. Qatar Robotic Surgery Centre, Qatar Science and Technology Park, Doha, Qatar

    Nikhil V. Navkar, Shidin Balakrishnan & Julien Abinahed

  3. Pediatric Department, Hamad Medical Corporation, Doha, Qatar

    Amer Alsaied

  4. Urology Department, Hamad Medical Corporation, Doha, Qatar

    Abdulla A. Al-Ansari

Authors
  1. Carlos A. Velasquez
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  2. Nikhil V. Navkar
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  3. Amer Alsaied
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  4. Shidin Balakrishnan
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  5. Julien Abinahed
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  6. Abdulla A. Al-Ansari
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  7. W. Jong Yoon
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Corresponding author

Correspondence to Carlos A. Velasquez.

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Velasquez, C.A., Navkar, N.V., Alsaied, A. et al. Preliminary design of an actuated imaging probe for generation of additional visual cues in a robotic surgery. Surg Endosc 30, 2641–2648 (2016). https://doi.org/10.1007/s00464-015-4270-2

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  • DOI: https://doi.org/10.1007/s00464-015-4270-2

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