Development of stereo endoscope system with its innovative master interface for continuous surgical operation

Area of Science:

• Robotic Surgery
• Surgical Endoscopy
• Medical Device Innovation

Background:

• Robotic laparoscopic surgery offers benefits but faces challenges like discontinuous surgical flow due to control swapping between robot arms and endoscopes.
• This discontinuity can lead to instrument collisions, patient injury, and increased operation times, hindering surgical efficiency.

Purpose of the Study:

• To propose and evaluate a wireless controllable stereo endoscope system for simultaneous control of robot arms and endoscopes.
• To achieve a continuous surgical flow, thereby improving safety and efficacy in robotic surgery.

Main Methods:

• Developed a system comprising improved novel master interfaces (iNMIs), a 4-degrees of freedom (4-DOFs) endoscope control system (ECS), and a 3D endoscope.
• Integrated iNMIs with da Vinci Research Kit (dVRK) for simultaneous control; ECS utilizes servo motors for precise endoscope motion.
• Performed accuracy, latency, workspace, and modified peg transfer task tests with novice volunteers.

Main Results:

• The iNMIs demonstrated low mean latency (5 ms) and operated continuously for 317 minutes.
• The system's workspace (20378.3 cm³) significantly exceeds clinical requirements (549.5 cm³).
• Novice volunteers successfully completed the peg transfer task, validating the system's performance.

Conclusions:

• The proposed 3D endoscope system effectively enables continuous surgical flow in robotic surgery.
• The system's substantial workspace and validated performance indicate suitability for diverse surgical procedures.
• This innovation is expected to significantly enhance the safety and efficacy of existing surgical robot systems.