Endo-Periscope III, Steerable Instruments

Endo-Periscope III – Revolution from a Squid

January 1, 2003 Paul Breedveld

Developed in 2003-2004, diameter 5 mm, steering range: ±110º in all directions.

Construction equivalent to Endo-Periscope II, however with Ring-Springs replaced by novel patented “Cable-Ring” mechanism based on tentacles of squid. The Cable-Ring mechanism consists of a ring of 22 steel cables (Ø0.45 mm) enclosed by two conventional coil springs, allowing only axial cable displacements to control the motion of the steerable tip. The Cable-Ring mechanism is entirely constructed out of standard parts and therefore very suitable for low cost mass production. The Cable-Ring mechanism is being commercialized worldwide by spin-off company DEAM.

Publications

Jelínek, F., Arkenbout, E. A., Henselmans, P. W., Pessers, R., & Breedveld, P. (2015). Classification of Joints Used in Steerable Instruments for Minimally Invasive Surgery—A Review of the State of the Art. Journal of Medical Devices, 9(1), 010801.
Jelinek F., Arkenbout E.A., Henselmans P.W.J., Pessers R., Breedveld P. (2014). Classification of Joints Used in Steerable Instruments for Minimally Invasive Surgery. ASME Journal of Medical Devices, Vol. 8, Sept. 2014, pp. 030914-1-030914-2
Breedveld P. (2014). Bio-Inspired medical technology. International Conference NanotechITALY2014, Nov. 26-28, Venice, Italy, 2 p.
Breedveld P. (2010). Steerable laparoscopic cable-ring forceps. Proc. 2010 ASME Design of Medical Devices Conference, April 13-15, Minneapolis, MN, USA, Paper DMD2010-3853, 7 p.
Breedveld P. (2010). Multi-steerable instruments for endo-nasal skull base surgery. Abstr. 22nd International Conference of Society for Medical innovation and Technology (SMIT), Sept. 2-4, Trondheim, Norway, 1 p.
Breedveld P., Scheltes J.S., Begemann M.J.S. (2009). Bio-Inspired “Tentacle” mechanism for steerable endoscopes, catheters, micro surgical instruments and steerable laparoscopic grasping forceps. Proc. 17th International Congress of the European Association for Endoscopic Surgery (EAES), June 17-20, Praha, Czech Republic, p. 58.
Breedveld P. (2007) (in Dutch). Stuurmechanisme voor sleutelgatoperaties. Mikroniek, No. 4, pp. 14-18.
Breedveld P., Scheltes J.S., Begemann M.J.S. (2007). Miniature steerable “tentacle” mechanism for use in endoscopes, instruments and catheters. Proc. 1^st Dutch Conference on Bio-Medical Engineering, Jan. 18-19, Egmond aan Zee, the Netherlands, p. 111.
Breedveld P. (2006). Bio-inspired design of surgical instruments & intestine inspection devices. 1st International Medical-Engineering Joint Biomechanics Symposium, July 29, Tamachi Campus Innovation Center, Tokyo Institute of Technology, Tokyo, Japan, pp. S1-S6.
Breedveld P., Scheltes J.S., Begemann M.J.S. (2006). Small and disposable “tentacle” mechanism of steerable endoscopes, instruments and catheters. Proc. 10th World Congress of Endoscopic Surgery, Sept. 14-16, Berlin, Germany, p. 107.
Breedveld P., Scheltes J.S., Blom E.M., Verheij J.E.I. (2005) A new, easily miniaturized steerable endoscope – squid tentacles provide inspiration for the Endo-Periscope. IEEE Engineering in Medicine & Biology Magazine, November/December 2005, pp. 40-47.
Breedveld P., Scheltes J.S., Blom E.M., Verheij J.E.I. (2005) Miniature steerable mechanism based on tentacle of squid for use in endoscopes, instruments and catheters. Proc. 13th International Congress of the European Association for Endoscopic Surgery (EAES), June 1-4, Venice, Italy, p. 67.

Media

Endo-Periscope II, Steerable Instruments

Endo-Periscope II – Smart Ring-Spring Steering

January 1, 2001 Paul Breedveld

Developed in 2001-2002, diameter 12 mm, steering range: ±125º in all directions.

The Endo-Periscope II has been developed in cooperation with Prof. Shigeo Hirose of the Hirose & Fukushima Laboratory, Tokyo Institute of Technology.

Endo-Periscope II is a simplified, patented version of Endo-Periscope I containing two enhanced compliant Ring Springs to control both left/right and up/down tip rotations. Endo-Periscope II contains an improved spatial parallelogram-mechanism that minimizes bending radius in all positions of the tip. A prominent part of the mechanism is a compression spring in the handgrip that compensates the spring force of the two Ring-Springs.

Publications

Breedveld P., Hirose S. (2004) Design of steerable endoscopes to improve the visual perception of depth during laparoscopic surgery. ASME Journal of Mechanical Design, March 2004, Vol. 126, No. 1, pp. 2-5.
Breedveld P., Hirose S. (2002). Development of steerable endoscopes to improve depth perception during laparoscopic surgery. Proc. 2002 ASME Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Sept. 29-Oct. 2, Montreal, Canada, Paper DETC2002/MECH-34283.
Breedveld P., Hirose S. (2002). Development of steerable endoscopes to improve depth perception in laparoscopic surgery. Proc. 10th International Congress of the European Association for Endoscopic Surgery (EAES), June 2-5, Lisbon, Portugal, p. 18.

Media

Endo-Periscope I, Steerable Instruments

Endo-Periscope I – Compliant yet Torsion Stiff

October 26, 2000 Paul Breedveld

Developed in 1999-2000, diameter 15 mm, steering range: up/down 0º-180º, left/right ±60º

The Endo-Periscope I has been developed in cooperation with Prof. Shigeo Hirose of the Hirose & Fukushima Laboratory, Tokyo Institute of Technology.

Endo-Periscope I is a patented steerable endoscope for laparoscopic surgery containing a novel, torsion-stiff “Ring-Spring”. The compliant Ring-Spring consists of a number of spring-metal rings that are bent and welded to each other in pairs. The rings contain holes for guiding steering cables. The Ring-Spring is controlled by a novel spatial parallelogram-mechanism that unfolds the spring from a compressed position to minimize bending radius of the steerable tip. The tip has always the same orientation as the hand grip, offering intuitive control to the surgeon showing how the tip is oriented in the abdominal cavity. The Ring-Spring is only used to control up/down tip rotations. Left/right tip rotations are controlled by a conventional hinge-mechanism.

Publications

Breedveld P., Hirose S. (2001). Development of the Endo-Periscope. Minimally 13 Invasive Therapy and Allied Technologies, Vol. 10, No. 6, pp. 315-322.
Breedveld P., Wentink M. (2001) Eye-hand coordination in laparoscopy – an overview of experiments and supporting aids. Minimally Invasive Therapy and Allied Technologies, Vol. 10, No. 3, pp. 155-162.
Breedveld P., Hirose S. (2001) Development of the Endo-Periscope for improvement of depth perception in laparoscopic surgery. Proc. 2001 ASME Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Sept. 9-12, Pittsburgh, PA, USA, Paper DETC2001/DAC-21031, 7 p.
Breedveld P., Hirose S. (2001). The Endo-Periscope – a new tool to improve depth perception in laparoscopic surgery. Proc. 9th International Congress of the European Association for Endoscopic Surgery (EAES), June 13-16, MECC, Maastricht, the Netherlands, p.110.
Breedveld P., Hirose S. (2001). Design of a steerable endoscope to improve depth perception in laparoscopic surgery. Proc. Dutch Annual Conference on BioMedical Engineering, Oct. 8-9, Papendal, the Netherlands, pp. 23-25.
Van Kasteren, J. (2001). Cutting around corners: Endo-Periscope increases surgeon’s scope.

Media

http://www.npo.nl/de-kennis-van-nu/27-10-2016/VPWON_1263063

Steerable Instruments

Steerability – How it all started…

March 1, 1499 Paul Breedveld

During Minimally Invasive Surgery (MIS) surgical instruments and an endoscopic camera are inserted through tiny incisions into the human body. This approach reduces the patient’s recovery time, the size of the scars and the risk of complications. Unfortunately, MIS also has its drawbacks since the intervention becomes more difficult for the surgeon:

There is limited visual 3D information (and thus no proper depth perception) of the surgical area.
The surgeon’s eye-hand coordination is distorted because the camera looks at the organ from a different angle than the surgeon would normally do.
The motion of rigid instruments is strongly limited by the fixed position of the incisions.
The surgeon’s ergonomic position deteriorates due to the use of long and rigid instruments in combination with fixed incision points.

One way to obtain more depth information is to enable motion parallax – obtaining depth information by mutual displacements of objects in the field of view when moving the eye while keeping the viewpoint in focus. With conventional rigid endoscopes, however, moving the endoscope results in the viewpoint to shift away as the endoscope rotates around its incision point.

During his stay in the Hirose & Fukushima Laboratory, Tokyo Institute of Technology, Paul Breedveld and Shigeo Hirose developed an endoscope with a steerable parallelogram mechanism, enabling motion parallax and facilitating eye-hand coordination. This resulted in the first steerable endoscope of the BITE-Group – the Endo-Periscope I.

Publications

Wentink M., Breedveld P., Stassen L.P.S., Oei I.H., Wieringa P.A. (2002). A clearly visible endoscopic instrument shaft on the monitor facilitates hand-eye coordination. Surgical Endoscopy, Vol. 16, No. 11, pp. 1533-1537.
Breedveld P., Wentink M. (2001) Eye-hand coordination in laparoscopy – an overview of experiments and supporting aids. Minimally Invasive Therapy and Allied Technologies, Vol. 10, No. 3, pp. 155-162.
Wentink M., Breedveld P., Stassen L.P.S, Oei I., Wieringa P.A. (2001). Visible instrument shaft improves laparoscopic manipulation. Proc. 9th International Congress of the European Association for Endoscopic Surgery (EAES), June 13-16, MECC, Maastricht, the Netherlands, p.111.
Wentink M., Breedveld P., Wieringa P.A. (2001). Frames-of-reference for handeye coordination during minimally invasive surgery. Proc. Dutch Annual Conference on BioMedical Engineering, Oct. 8-9, Papendal, the Netherlands, 2 p.
Breedveld P., Hirose S. (2001). Design of a steerable endoscope to improve depth perception in laparoscopic surgery. Proc. Dutch Annual Conference on BioMedical Engineering, Oct. 8-9, Papendal, the Netherlands, pp. 23-25.
Wentink M., Breedveld P., Meijer D.W., Stassen H.G. (2000). Endoscopic camera rotation – a conceptual solution to improve hand-eye coordination in minimally invasive surgery. Minimally Invasive Therapy and Allied Technologies, Vol. 9, No. 2, pp. 125-132.
Breedveld P., Stassen H.G., Meijer D.W., Jakimowicz J.J. (2000). Observation in laparoscopic surgery – overview of impeding effects and supporting aids. Journal of Laparoendoscopic and Advanced Surgical Techniques, Vol. 10, No. 5, pp. 257-267.
Wentink M., Breedveld P., Stassen H.G. (2000). Use of a flexible endoscope in minimally invasive surgery improves a surgeon’s depth perception. Proc. 23th European Conference on Visual Perception, August 27-30, Groningen, the Netherlands; In: Perception, Vol. 29 supplement, p. 33.
Wentink M., Breedveld P., Overbeeke C.J., Wieringa P.A., Stassen H.G. (2000). Hand-eye coordination strategy during minimally invasive surgery – cartesian vs polar perception-action mapping. Proc. Dutch Annual Conference on BioMedical Engineering, Oct. 9-10, Arnhem, the Netherlands, pp. 144-146.
Breedveld P., Stassen H.G., Meijer D.W., Jakimowicz J.J. (1999). Manipulation in laparoscopic surgery – overview of impeding effects and supporting aids. Journal of Laparoendoscopic and Advanced Surgical Techniques, Vol. 9, No. 6, pp. 469-480.
Breedveld P., Stassen H.G., Meijer D.W., Stassen L.P.S. (1999). Theoretical background and conceptual solution for depth perception and eye-hand coordination problems in laparoscopic surgery. Minimally Invasive Therapy and Allied Technologies, Vol 8, No. 4, pp. 227-234.
Breedveld P. (1999). Spatial perception and manipulation in laparoscopic surgery – problem overview and technical solution. Proc. International Training and Education Conference (ITEC ’99), Medical Simulation and Education Session, April 13-15, Netherlands Congress Centre, the Hague, the Netherlands, pp. 63-67.
Breedveld P., Stassen H.G., Meijer D.W. (1999). Improving depth perception and eye-hand coordination with a flexible 90o endoscope. Proc. 7th International Congress of the European Association for Endoscopic Surgery (EAES), June 23-26, Design-Center, Linz, Austria, p. 12.
Breedveld P., Stassen H.G., Meijer D.W. (1999). Eye-hand coordination in laparoscopy – how it is and how it should be. Proc. 7th International Congress of the European Association for Endoscopic Surgery (EAES), June 23-26, Design-Center, Linz, Austria, p. 13.
Breedveld P., Stassen H.G., Meijer D.W. (1999). Depth perception in laparoscopy – 3D vision is more than stereovision. Proc. 7th International Congress of the European Association for Endoscopic Surgery (EAES), June 23-26, Design-Center, Linz, Austria, p. 13.
Breedveld P., Lunteren A. van, Stassen H.G. (1999). Elimination of misorientations and introduction of movement parallax in laparoscopic surgery. Proc. 18th Benelux Meeting on Systems and Control, March 3-5, Houthalen, Belgium, p. 160.
Breedveld P., Lunteren A. van, Stassen H.G. (1998). Improvement of depth perception and eye-hand coordination in laparoscopic surgery. Proc. 7th IFAC Symp. on Analysis, Design and Evaluation of Man-Machine Systems, Sept. 16-18, Kyoto International Conference Hall, Kyoto, Japan, 6 p.
Breedveld P., Lunteren A. van, Stassen H.G., Meijer D.W. (1998). Compensation of misorientations to improve the eye-hand coordination of the laparoscopic surgeon. Proc. 10th Annual International Meeting of the Society for Minimally Invasive Therapy (SMIT), Minimally Invasive Therapy and Allied Technologies, Vol. 7, Supp. 1, p. 10.
Breedveld P. (1997). Observation, manipulation, and eye-hand coordination problems in minimally invasive surgery. Proc. 16th European Annual Conference on Human Decision Making and Manual Control, Dec. 9-11, University of Kassel, Kassel, Germany, pp. 219-231.

Assignments

Shockwaves for Puncturing through Occlusions (CLOSED)

May 4, 1400 Aimee Sakes

Chronic Total Occlusions (CTOs) are currently the last frontier for cardiovascular surgery. CTOs are defined as heavily calcified occlusions in the vascular system of the heart that slowly form over time and are at least three months old. The preferred treatment option of CTOs is a so-called Percutaneous Coronary Intervention (PCI). Unfortunately, in many occasions PCI is ineffective as the guidewire is not able to cross the CTO due to lack of stiffness of the guidewire and the less than favourable properties of the CTO. Therefore, the success rate of these kinds of interventions is relatively low, which in turn has led to the tendency to treat these kinds of lesions medically.

To improve the success rate of these kinds of interventions it is, therefore, necessary to develop a new tool that is able to cross the CTO without buckling. From this, the idea arose to use shockwaves to puncture through CTOs. Shockwaves are used in the animal kingdom to strike through hard shells and prey capture by, for example, the Mantis Shrimp. They are particularly effective in fluidic environment such as the blood vessels and are, therefore, a good candidate for prototype development.

This research project will entail a literature study where the use of shockwaves in the animal kingdom and other shockwave applications and/or instruments is investigated, and a graduation project where innovative shockwave tool for puncturing the proximal cap of chronic total occlusions is developed.

Contact: Aimée Sakes, a.sakes@tudelft.nl

Assignments

Design of A Flexible Tissue Removal Device for Skull Base Surgery

May 3, 1400 Aimee Sakes

Cushing’s disease is a neurological disorder caused by the loss of dopamine secretion in and near the pituitary gland. Unlike in human Cushing’s disease, where surgical removal of the pituitary tumors is a common treatment modality, in horses oral treatment is the treatment of choice. This oral treatment does not provide a long-term solution to the disease, as it is focused on symptom reduction and does nothing to fight the actual cause of the disease.

In collaboration with the department of Veterinary medicine Utrecht, a new paradigm of surgical treatment of Cushing’s disease in horses has been developed that uses the vascular system in combination with an innovative flexible morcellator to reach the pituitary gland. This flexible morcellator incorporates a rigid tip with a resection tool and a flexible shaft, which incorporates a cable drive element, used for actuating the resection tool, and a central tissue transportation lumen.

Further development of this device is necessary before clinical use can commence. Redevelopment should focus on miniaturisation, improving the cutting blade design, and adding a means of visualizing the pituitary tumors.

We are currently also exploring the possibility to redesign this instrument for human surgery.

Contact: Aimée Sakes, a.sakes@tudelft.nl