{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:56:56Z","timestamp":1777715816190,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T00:00:00Z","timestamp":1242691200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,10]]},"abstract":"<jats:p>In this paper we describe work we have done in developing an insertable surgical imaging device with multiple degrees of freedom for minimally invasive surgery. The device is fully insertable into the abdomen using standard 12 mm trocars. It consists of a modular camera and lens system which has pan and tilt capability provided by two small DC servo motors. It also has its own integrated lighting system that is part of the camera assembly. Once the camera is inserted into the abdomen, the insertion port is available for additional tooling, motivating the idea of single-port surgery. A third zoom axis has been designed for the camera as well, allowing close-up and far-away imaging of surgical sites with a single camera unit. In animal tests with the device we have performed surgical procedures including cholecystectomy, appendectomy, running (measuring) the bowel, suturing, and nephrectomy. Preliminary tests suggest that the new device may have advantages over a standard laparoscope including the following.<\/jats:p>\n                  <jats:p>\u2022 Low-cost and simple design.<\/jats:p>\n                  <jats:p>\u2022 Easier and more intuitive to use than a standard laparoscope.<\/jats:p>\n                  <jats:p>\u2022 Joystick operation requires no specialized operator training.<\/jats:p>\n                  <jats:p>\u2022 Pan\/tilt functions provide a large imaging volume not restricted by the fulcrum point of standard laparoscope.<\/jats:p>\n                  <jats:p>\u2022 Time to perform procedures was better than or equivalent to a standard laparoscope.<\/jats:p>\n                  <jats:p>We believe these insertable platforms will be an integral part of future surgical systems. The platforms can be used with tooling as well as imaging devices, allowing many surgical procedures to be performed using such a system.<\/jats:p>","DOI":"10.1177\/0278364908104292","type":"journal-article","created":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T22:09:33Z","timestamp":1242770973000},"page":"1373-1386","source":"Crossref","is-referenced-by-count":40,"title":["Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting"],"prefix":"10.1177","volume":"28","author":[{"given":"Tie","family":"Hu","sequence":"first","affiliation":[{"name":"Department of Computer Science, Columbia University, New York, NY 10027, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter K.","family":"Allen","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Columbia University, New York, NY 10027, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nancy J.","family":"Hogle","sequence":"additional","affiliation":[{"name":"Department of Surgery, Columbia University, New York, NY 10032, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dennis L.","family":"Fowler","sequence":"additional","affiliation":[{"name":"Department of Surgery, Columbia University, New York, NY 10032, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,19]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014813"},{"key":"atypb2","volume-title":"28th IEEE EMBS Annual International Conference","author":"Dachs, G.W., II"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-006-0078-4"},{"key":"atypb4","first-page":"1822","volume":"20","author":"Gao, L.M.","year":"1998","journal-title":"International Conference of the IEEE Engineering in Medicine and Biology Society"},{"key":"atypb5","volume-title":"Proceedings of Medicine Meets Virtual Reality: Health Care in the Information Age","author":"Geis, W.P."},{"key":"atypb6","volume-title":"IEEE International Conference on Robotics and Automation","author":"Guthart, G."},{"key":"atypb7","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Hu, T."},{"key":"atypb8","first-page":"174","volume":"132","author":"Hu, T.","year":"2008","journal-title":"Stud Health Technol Inform"},{"key":"atypb9","author":"Hu, T.","year":"2008","journal-title":"IEEE BioRob"},{"key":"atypb10","volume-title":"IEEE Workshop on Micro Electromechanical Systems","author":"Ikuta, K."},{"key":"atypb11","volume-title":"Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ma, J."},{"key":"atypb12","first-page":"234","volume":"98","author":"Miller, A.","year":"2004","journal-title":"Stud Health Technol Inform"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/70.917078"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-004-8918-6"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1097\/01.sla.0000232518.01447.c7"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(01)00570-2"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1007\/BF02048366"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1001\/archsurg.134.1.6"},{"key":"atypb19","volume-title":"Modern Lens Design","author":"Smith, W.J.","year":"2004"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(96)00082-6"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1177\/155335060501200405"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.med.46.1.147"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1097\/00001610-200201000-00007"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908104292","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908104292","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:32Z","timestamp":1777457792000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364908104292"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5,19]]},"references-count":23,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2009,10]]}},"alternative-id":["10.1177\/0278364908104292"],"URL":"https:\/\/doi.org\/10.1177\/0278364908104292","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5,19]]}}}