Miniature magnetically anchored and controlled camera system for trocar-less laparoscopy

Figure 1 The miniature magnetically anchored camera with a 30° downward angle. It consists of inner magnets (black arrow), a light source (green arrow), a vision model (yellow arrow), and a metal hexagonal nut (red arrow).

Figure 2 In vitro test. A: The bench test consists of a special mannequin and a laparoscope; B: External view image for trocar-less laparoscopic cholecystectomy in vitro: the external magnetically anchored unit (red arrow) and the vision output device (yellow arrow); C: Critical view image for trocar-less laparoscopic cholecystectomy in vitro (the picture-in-picture view is the image captured by the miniature magnetically anchored camera with its own light source).

Figure 3 In vivo test. A: External view image for trocar-less laparoscopic cholecystectomy in a canine mode; B: Critical view image for trocar-less laparoscopic cholecystectomy in a canine model (the picture-in-picture view is the image captured by the miniature magnetically anchored camera with its own light source).

Figure 4 Pathologic assessment of abdominal wall. A: Hematoxylin-eosin (HE) staining of normal area; B: HE staining of active area.

Figure 5 The method of achieving a 30° downward angle using the miniature magnetically anchored camera.