Novel Camera System for

Thoracoscopic Surgery
John Mandile

Team Members:
Rob Hinshaw, Patrick Wu
Clients:
Dr. Traves Crabtree, Dr. Pamela Samson

Outline

Background and scope

Proposed Solutions
Analysis Performed
Chosen Design
Further Analysis
Final Design

Background/Need
VATS: Video
Assisted
Thoracoscopic
Surgery
Use of trocars at
incisions to guide
instruments
Torqueing of
trocar abrades
intercostal nerves

Project Scope
Develop a novel camera system that redresses
the challenges of current thoracoscopic
surgery solutions while retaining the
advantages of VATS.
System will be able to:
illuminate the thoracic cavity
provide access to views of the lungs and hilum
reduce or eliminating trocar traction

Specific Design Requirements

Attribute

Details

Safety
Autoclavable

134C

Operating range

5-40 C

Electrically/thermally insulated For 100-240 VAC (0.6A) @ 50-60 Hz power supply

Ease of Use
Extended periods of use

>6 hours

Support camera head

<150 g

Thoracoscope Features

Light Source

60 W LED

Camera

720p standard A/V Output.

Must resist obstruction by blood spatter

Diameter

10 mm. Must also fit through 4cm incision

Movement

must be able to change between multiple points of

view (particularly apical and posterior) with limited or
no traction on trocar

Rejected Solutions
Non-optical imaging
modalities
possible techniques
include ultrasound, x-rays,
and CT-scans
Exposure to radiation
Poor resolution/depth
No real-time monitoring

Pivoting camera head

Camera head on pivot
Reduce need for torqueing
Hard to control

Swivel mirror
Allows backwards-facing
views
Simple
Prone to blood splatter

Microbots
Remotely Controlled
Minimally Invasive
Impractical/unfeasible

Proposed Solutions: Body

Modifications
Multiple joints
Rigid body sections
connected at joints
Controlled by internal
pulleys
Complexity increases with
dexterity

Flexible scope body

Scope body made of
flexible material
Very articulate
Control over head and
body

Proposed Solutions: Location of

Camera
Fixed wall cameras
Implantable cameras
Attached with surgical glue
Multiple cameras/switching views

Mobile wall cameras

Magnetically anchored
Manipulated via external magnets
Wired or wireless

Wall contour cameras

Cameras mounted to internal platform or retractors
Follows contour of thoracic wall
Does not impede surgical field or view

Design Criteria
Safety
Electrically/thermally
insulated
No sharp edges
Resist effects of nearby
electrocautery

Maintenance
Difficulty in cleaning
(autoclavable or not)
Durability

Postoperative Comfort
Minimize surgical need for
torqueing trocar

Adaptability
Easy to learn
Applicable to most cases of
thoracic surgery

Field of View
Visibility of thoracic cavity
(wider angle, flexible,
multiple cameras)

Lens Cleaning
Ability to resist blood spatter
Ease of cleaning
Self-cleaning valued over
manually cleaning

Design Analysis
Weight

Multiple
Joints

Flexible Scope
Body

Fixed Wall
Cameras

Wall Contour
Cameras

Mobile Wall
Cameras

5
3
5
4

2
1
2
3

3
2
2
3

4
3
4
3

5
4
4
3

4
5
5
3

Light Source

Total

75

89

110

128

121

Design Criteria
Maintenance
Cleaning
P-O Comfort
Adaptability
Field-of-View
Lens Clearing
Swiveling Camera
Head/Mirror
Multiple Lenses

Chosen Design
Wall Contour Camera
Most adaptable
Greatest Field of view
Easy to Clean
Minimizes Need for torqueing

Must consider design of body and lenses

Further Body Designs

Telescoping arms - rigid, mechanical supports
comprised multiple small pieces
Electroactive Polymers - continuous, flexible supports
with voltage controlled movement and full range of
motion
Snake arms - complex, flexible, mechanical arms with
full range of motion
Finger model - jointed support arm with central, rigid
spine, movement controlled by simple internal pulley
system, similar to human finger
Inflatable - continuous supports that vary in stiffness
with internal pressure

Body Design Analysis

Body Design

Design Criteria

Telescoping Electro-Active
Weight
Arms
Polymers

Snake Arm

Mulit-Joint
(Finger) Model

Inflatable

Stability

Maneuverability

Adaptability to
Patient Differences

Power Conduit

Erectibility

Within Scope

Field of View

Total

63

92

94

77

94

Lens Design
Eyelid Shield - dome shaped shield with wiper
Anti-fogging solution - biocompatible
surfactant that reduces condensation
Micro Wipers - small wipers for flat lens
surface
Removable Shield Layers - absorbable shield
that can shed layers when occluded

Len Cleaning

Design Criteria
Weight
Maintenance
4
Clears Blood and Fog
5
Feasibility
2
Robustness of Overall
Design
3
Total

Lens Cleaning Mechanism

Eyelid
Anti-Fogging
Shield
Solution
Microwipers
4
2
4
5
2
4
3
5
1

Ejectable Shield
Layers
3
5
1

62

37

41

51

Other Considerations
Light Source
Use of LED rather than xenon bulb
Multiple lights reduces risk of obstruction

Control Methods
Manual control over arm inflation
Lighting
Voice control beyond scope

Final Design

Wall-contour system
Utilizes inflatable arms
Self-clearing lenses
Integrated LED lighting
Manual control of system

References

"1288 HD Video Camera User Guide." Stryker. N.p., n.d. Web. 23 Oct. 2014.
<http://www.stryker.com/stellent/groups/public/documents/web_prod/141204.pdf>.
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<http://www.cryolife.com/products/bioglue-surgical-adhesive>.
McMahan, William, et. al.. "Robotic Manipulators Inspired by Cephalopod Limbs."
www.clemson.edu. 22 Oct. 2014.
<http://www.clemson.edu/ces/crb/octor/publications/will_cden04.pdf>.
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<http://www.stryker.com/enus/products/Endoscopy/VisualizationandDocumentationSystems/EndoscopicCameras/1288H
D3-ChipCamera/index.htm>.
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Walker, Ian D., et. al.. "Continuum Robot Arms In spired by Cephalopods." www.clemson.edu.
24 Oct. 2014. <http://www.ces.clemson.edu/~iwalker/spie05.pdf>.