Thermal endoscope based on cost-effective LWIR camera cores

Scutelnic, D.; Marchioro, Giacomo; Siracusano, Salvatore; Fiorini, Paolo; Muradore, Riccardo; Daffara, Claudia

doi:10.1016/j.ohx.2022.e00300

Cited by 5 publications

(6 citation statements)

References 14 publications

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“…In conclusion, we believe that the application of these results is very attractive both for the definition of the careful use of bipolar cautery during nerve-sparing RARP and for the development of a new thermal endoscope for robotic use as designed, patented, and recently published by us ( 14 ). In this way, it becomes clear that careful use of bipolar cautery is feasible during posterolateral dissection in RARP procedures allowing the use of the Hem-o-lok clip whenever possible.…”

Section: Discussionmentioning

confidence: 89%

“…It is important to underline that we adopted a compact camera characterized by a small sensor array (therefore, a limited spatial resolution) to test a reliable approach for its deployment in a real environment. Nowadays, miniaturized sensors are available thus addressing the possibility of performing thermal monitoring in robotic-assisted laparoscopic conditions ( 14 ). In this study, we showed that thermal sampling with a small 80 × 60 bolometric sensor at an acquisition rate of 10 Hz is suitable to provide informative data for thermal damage monitoring in real time during electrosurgery.…”

Section: Discussionmentioning

confidence: 99%

“…Four trocars were positioned inside the SPC, two were used for the insertion of the Maryland forceps (one of them electrified in bipolar mode), and the third one for the positioning of the air-real system. The additional fourth trocar of the chamber was designed to host an endoscopic vision system ( 14 ).…”

Section: Methodsmentioning

confidence: 99%

“…In the present study, we manufactured a sealed plexiglass chamber equipped with sensors for reproducing experimentally the environmental conditions of a pneumoperitoneum employed during RARP in order to assess the critical heat spread of bipolar cauterizing used during this surgical procedure by the employment of a compact thermal camera. Miniaturized thermal sensors available nowadays can be integrated in novel devices (i.e., endoscopic) suitable to be used in a real (i.e., laparoscopic) environment ( 14 ).…”

Section: Introductionmentioning

confidence: 99%

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Measuring thermal spread during bipolar cauterizing using an experimental pneumoperitoneum and thermal sensors

et al. 2023

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ObjectiveDuring nerve-sparing robot-assisted radical prostatectomy (RARP) bipolar electrocoagulation is often used but its use is controversial for the possible thermal damage of neurovascular bundles. Aim of the study was to evaluate the spatial-temporal thermal distribution in the tissue and the correlation with the electrosurgery-induced tissue damage in a controlled, CO2-rich environment modelling the laparoscopy conditions..MethodsWe manufactured a sealed plexiglass chamber (SPC) equipped with sensors to reproduce experimentally the environmental conditions of pneumoperitoneum during RARP. We evaluated in 64 pig musculofascial tissues (PMTs) of approximately 3 cm3 × 3 cm3 × 2 cm3 the spatial-temporal thermal distribution in the tissue and the correlation with the electrosurgery-induced tissue damage in a controlled CO2-rich environment modeling the laparoscopy conditions. Critical heat spread of bipolar cauterizing during surgical procedure was assessed by the employment of a compact thermal camera (C2) with a small core sensor (60 × 80 microbolometer array in the range 7–14 μm).ResultsBipolar instruments used at 30 W showed a thermal spread area of 18 mm2 when applied for 2 s and 28 mm2 when applied for 4 s. At 60 W, bipolar instruments showed a mean thermal spread and 19 mm2 when applied for 2 s; and 21 mm2 when applied for 4 s. Finally, histopathological analysis showed that thermal damage is distributed predominantly on the surface rather than in depth.ConclusionsThe application of these results is very interesting for the definition of an accurate use of bipolar cautery during nerve-sparing RARP. It demonstrates the feasibility of using miniaturized thermal sensors, thus addressing the potential for next developments regarding the design of thermal endoscopic devices for robotic use.

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Section: Discussionmentioning

confidence: 89%

Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Measuring thermal spread during bipolar cauterizing using an experimental pneumoperitoneum and thermal sensors

et al. 2023

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“…Some of them can be used as interfaces for embedded protocols such as I2C (Inter-Integrated Circuit) and SPI (Serial peripheral interface) 63 . The Lepton module transfers thermal data to the Raspberry Pi board over the SPI interface and uses the I2C protocol for accessing specific camera functions 64 .…”

Section: The Architecture Of the Indoor Wall-climbing Inspection Robo...mentioning

confidence: 99%

Exploration of using a wall-climbing robot system for indoor inspection in occupied buildings

Ma,

Hartmann

2024

Sci Rep

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Indoor inspection robots operating in occupied buildings need to minimize disturbance to occupants and access high areas of a room and cramped spaces obstructed by obstacles for higher inspection coverage. However, existing indoor inspection robots are still unable to meet these requirements. This paper aims to explore the feasibility of applying wall-climbing robots to address these requirements. To this end, we propose a small-sized wall-climbing robot prototype that can move on common indoor surfaces. We extend the proposed prototype to support thermographic inspection by integrating thermal imaging technology into it. Experiment results show that the proposed robot prototype can reach more wall and floor areas for inspection than previously developed indoor inspection robots. It has also been demonstrated that the reduced size and the wall-climbing ability allow the robot to largely avoid human activity areas, thereby reducing disturbance to occupants. This study represents the first attempt to introduce wall-climbing robots into the indoor inspection domain and provides the initial validation of their advantages over existing indoor inspection robots regarding improving inspection coverage and minimizing disturbance to occupants. The findings in this study can provide valuable insights for the future design, selection and application of robotic systems for indoor inspection tasks.

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A passive stereo calibration technique for visible-thermal, low-resolution imaging in remote sensing applications

Piccinelli,

De Rossi,

Daffara

et al. 2024

Measurement

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Thermal endoscope based on cost-effective LWIR camera cores

Cited by 5 publications

References 14 publications

Measuring thermal spread during bipolar cauterizing using an experimental pneumoperitoneum and thermal sensors

Measuring thermal spread during bipolar cauterizing using an experimental pneumoperitoneum and thermal sensors

Exploration of using a wall-climbing robot system for indoor inspection in occupied buildings

A passive stereo calibration technique for visible-thermal, low-resolution imaging in remote sensing applications

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