Design of Steerable Endoscopes to Improve the Visual Perception of Depth During Laparoscopic Surgery

[+] Author and Article Information
Paul Breedveld

Delft University of Technology, Faculty of Mechanical Engineering, Man-Machine Systems Group, Mekelweg 2, 2628 CD Delft, The Netherlandse-mail: p.breedveld@wbmt.tudelft.nl

Shigeo Hirose

Tokyo Institute of Technology, Department of Mechanical and Aerospace Engineering, 2-12-1 O-Okayama, Meguro-ku, Tokyo 152-8552 Japane-mail: hirose@mes.titech.ac.jp

J. Mech. Des 126(1), 2-5 (Mar 11, 2004) (4 pages) doi:10.1115/1.1637658 History: Received October 01, 2002; Online March 11, 2004
Copyright © 2004 by ASME
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The four degrees of freedom of a standard rigid endoscope (“aw” is the abdominal wall)
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Working principle of the Endo-Periscope
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Conventional steerable mechanism in colonoscopes and gastroscopes, consisting of a series of rings that are connected by hinges and controlled by cables. Close-up of one ring is shown at right.
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Mechanism of Endo-Periscope I. At the left the tip with the Ring Spring. At the right the handgrip with the arrow and the disc. “D” is the diameter of the endoscope shaft.
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Ring Spring in the tip of Endo-Periscope I
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Prototype of Endo-Periscope I with close-ups of the steerable tip
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Mechanism of Endo-Periscope II, in straight (top) and bent position (bottom). “A,” “B” and “C” are parts of the cable at the bottom.
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Symmetric construction of the two Ring Springs in Endo-Periscope II
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Prototype of Endo-Periscope II with close-up of the steerable tip. The tip contains a removable arrow that visualizes the camera’s line-of-sight.




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