In-vivo pan/tilt endoscope with integrated light source

— 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 L...

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Tie Hu, Peter K. Allen, Dennis L. Fowler
• Keywords: Illumination Module, Imaging Module, IROS 2007, Pan/tilt Endoscopic Camera, Robotics