title: A robotic wide-angle view endoscope using wedge prisms.
abstract: BACKGROUND
  The aim was to develop a new type of robotic wide-angle view endoscope that does not require rotation or bending of the endoscope to move the field of view. This endoscope allows the surgeon to make extensive observations in a small space. It is safe because it avoids the possibility of hitting organs accidentally.
  
  
  METHODS
  The system consists of an endoscope with a zoom facility and two wedge prisms at the tip. Each prism is set on its own sleeve at the end of the endoscope, and both prisms rotate independently about the axis of the endoscope.
  
  
  RESULTS
  In the in vivo experiment, the high quality of the image was confirmed, and almost whole liver could be observed without the observer moving the endoscope itself.
  
  
  CONCLUSIONS
  This system provides safe robotic endoscopic surgery because of the high quality of the image. It has great significance for future clinical use.
authors.affiliation: Graduate School of Frontier Sciences, University of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan. etsuko@miki.pe.u-tokyo.ac.jp
authors.forename: E
authors.initials: E
authors.lastname: Kobayashi
authors.forename: I
authors.initials: I
authors.lastname: Sakuma
authors.forename: K
authors.initials: K
authors.lastname: Konishi
authors.forename: M
authors.initials: M
authors.lastname: Hashizume
authors.forename: T
authors.initials: T
authors.lastname: Dohi
mesh_terms: D000818:Animals; D019723:Endoscopes; D004867:Equipment Design; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted; D013552:Swine