Abstract
We have developed a novel robotic laparoscope for laparoscopic surgery to move the view point optically with double wedge prisms instead of moving the laparoscope itself. In this study, based on the problems that a previous invivo experiment pinpointed with the previous prototype, we redesigned a new prototype to widen the angle of view and thin the diameter of the laparoscope. The tube's diameter is thinned down into 18mm including a light source to fit in a commercial trocar. The prptotype has a view moving angle of ±19.2°, a view moving speed of 7.7°/s and a view moving error of 0.55±0.62mm at a distance of 100mm. It has an enough viewing area in the abdominal cavity and has a suffisient speed in the actual use. For the image quality, it maintains a high quality of image resolution, less distortion aberration and chromatic aberration. We received high evaluation marks for the image quality in the in-vivo experiment.
