In-vivo stereoscopic imaging system with 5 degrees-of-freedom for minimal access surgery.

Endoscopic imaging for minimal access surgery has many limitations that include: 2D and narrow angle imaging, limited workspace of the endoscope caused by the fulcrum effect of the body wall, and the presence of the endoscope in the incision that prevents use of the incision for other instrumentation. We have designed a novel stereoscopic 3D imaging device with 5 DOF and remote control that can be inserted and attached in the body cavity. The device, contained within a 11/16" tube, includes two miniature cameras and five small motors that position the cameras to provide a stereoscopic view of the surgical site. When inserted the cameras are retracted and protected by an outer shell. After the device is fixed within the abdominal cavity, a motor rotates an inner shell to expose the cameras. Once exposed, the cameras can tilt in tandem, translate independently along the axis of the tube, and independently pan. The software controls the cameras to create new views for the surgeon, to move along the adjustable baseline, to verge for stereoscopic viewing, and to potentially track moving organs. We have completed a proof of concept design, which includes CAD models and animations of the device, and we are currently building a physical prototype. Once the prototype is completed, we will begin testing it in a surgical mock-up, followed by animal and clinical trials.