title: 4-mm-diameter three-dimensional imaging endoscope with steerable camera for minimally invasive surgery (3-D-MARVEL).
abstract: High-resolution three-dimensional (3-D) imaging (stereo imaging) by endoscopes in minimally invasive surgery, especially in space-constrained applications such as brain surgery, is one of the most desired capabilities. Such capability exists at larger than 4-mm overall diameters. We report the development of a stereo imaging endoscope of 4-mm maximum diameter, called Multiangle, Rear-Viewing Endoscopic Tool (MARVEL) that uses a single-lens system with complementary multibandpass filter (CMBF) technology to achieve 3-D imaging. In addition, the system is endowed with the capability to pan from side-to-side over an angle of [Formula: see text], which is another unique aspect of MARVEL for such a class of endoscopes. The design and construction of a single-lens, CMBF aperture camera with integrated illumination to generate 3-D images, and the actuation mechanism built into it is summarized.
authors.affiliation: Jet Propulsion Laboratory , California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109, United States.
authors.forename: Sam Y
authors.initials: SY
authors.lastname: Bae
authors.affiliation: Jet Propulsion Laboratory , California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109, United States.
authors.forename: Ronald J
authors.initials: RJ
authors.lastname: Korniski
authors.affiliation: Jet Propulsion Laboratory , California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109, United States.
authors.forename: Michael
authors.initials: M
authors.lastname: Shearn
authors.affiliation: Jet Propulsion Laboratory , California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109, United States.
authors.forename: Harish M
authors.initials: HM
authors.lastname: Manohara
authors.affiliation: Skull Base Institute , 8635 West Third Street, Suite 1170-W, Los Angeles, California 90048, United States.
authors.forename: Hrayr
authors.initials: H
authors.lastname: Shahinian
keywords: endoscopy; minimally invasive surgery; stereo imaging; three-dimensional camera; three-dimensional imaging