Active Handheld Flexible Fetoscope–Design and Control Based on a Modified Generalized Prandtl-Ishlinski Model

Legrand, J; Dirckx, Dries; Durt, Maarten; Ourak, Mouloud; Deprest, Jan; Ourselin, Sébastien; Qian, Jun; Vercauteren, Tom; Poorten, Emmanuel Vander

doi:10.1109/aim43001.2020.9158868

Cited by 8 publications

(6 citation statements)

References 23 publications

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“…Baek et al further integrated these imaging-based methods with kinematic models [11]. Amongst others, analytic models for identifying hysteresis is one of the most popular research fields ( [17] - [19]). An open-loop controller could be designed based on the inversion of the identified models.…”

Section: Introductionmentioning

confidence: 99%

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Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction

Zhang

Ourak

et al. 2021

IEEE Robot. Autom. Lett.

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Catheters are increasingly being used to tackle problems in the cardiovascular system. However, positioning precision of the catheter tip is negatively affected by hysteresis. To ensure tissue damage due to imprecise positioning is avoided, hysteresis is to be understood and compensated for. This work investigates the feasibility to model hysteresis with a Long Short-Term Memory (LSTM) network. A bench-top setup containing a catheter distal segment was developed for model evaluation. The LSTM was first tested using four groups of test datasets containing diverse patterns. To compare with the LSTM, a Deadband Rate-Dependent Prandtl-Ishlinskii (DRDPI) model and a Support Vector Regression (SVR) model were established. The results demonstrated that the LSTM is capable of predicting the tip bending angle with sub-degree precision. The LSTM outperformed the DRDPI model and the SVR model by 60.1% and 36.0%, respectively, in arbitrarily varying signals. Next, the LSTM was further validated in a 3D reconstruction experiment using Forward-Looking Optical Coherence Tomography (FL-OCT). The results revealed that the LSTM was able to accurately reconstruct the environment with a reconstruction error below 0.25 mm. Overall, the proposed LSTM enabled precise free-space control of a robotic catheter in the presence of severe hysteresis. The LSTM predicted the catheter tip response precisely based on proximal input pressure, minimizing the need to install sensors at the catheter tip for localization.

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Section: Introductionmentioning

confidence: 99%

“…Nevertheless, analytic models require a large number of parameters which would lead to a cumbersome identification process. It's worth noting that, except for [19], all the above-mentioned research tackled hysteresis in cable-driven systems, while the study on hysteresis identification in fluidics-driven systems was scarce.…”

Section: Introductionmentioning

confidence: 99%

Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction

Zhang

Ourak

et al. 2021

IEEE Robot. Autom. Lett.

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“…The instrument to be designed can therefore be equipped with more than one tool, as the flexible instrument developed by Legrand et al for fetal surgery. 19 It is further possible to deduce the maximum deflection angle that the flexible instrument needs bend to be able to enter the maxillary sinus. Indeed, by calculating the angle between both vectors − → ab and − → bi based on the data presented in Appendix A, one can obtain the required bending angle.…”

Section: Discussionmentioning

confidence: 99%

A Method Based on 3D Shape Analysis Towards the Design of Flexible Instruments for Endoscopic Maxillary Sinus Surgery

et al. 2021

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The emergence of steerable flexible instruments have widened the uptake of minimally invasive surgical techniques. In sinus surgery, such flexible instruments could increase the access to difficult-to-reach anatomical areas. However, design-oriented metrics, essential for the development of steerable flexible instruments for maxillary sinus surgery, are lacking. This paper proposes a method to process measurements and provide the instrument designer with essential information to develop adapted flexible instruments for limited access surgery. The method was applied to maxillary sinus surgery and showed that an instrument with a diameter smaller than 2.4 mm could be used on more than 72.5 % of the subject set. Provided that this flexible instrument can bend up to 164.4 • , all areas within the maxillary sinus could be reached through a regular antrostomy without resorting to extra incision or tissue removal in 94.9 % of the population set.

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“…While various studies have focused on US probe control in instrument tracking, an important yet under-explored problem is that the fetoscope has a more extensive motion range than the needle [13]. The motion trajectory of needle insertion is predefined.…”

Section: Introductionmentioning

confidence: 99%

Development of Robot-assisted Ultrasound System for Fetoscopic Tracking in Twin to Twin Transfusion Syndrome Surgery

Cai

Davoodi

et al. 2023

2023 International Symposium on Medical Robotics (ISMR)

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Twin to Twin Transfusion Syndrome (TTTS) is one of the most severe conditions of congenital anomaly. Fetoscopic Laser Photocoagulation (FLP) has been shown as the preferred treatment for TTTS. The complicated intrauterine environment and limited incision diameter make FLP a very challenging surgery. Besides, the motion of the fetoscope is complex. Ultrasound (US) probe is used to offer a view of the anatomy as well as the relative pose of the fetoscope. However, keeping the fetoscope tip (FT) in view is difficult. A robotic US system could potentially solve the complex US probe handling and could improve the surgeon's view of the intrauterine scene. In this paper, an automatic fetoscope tracking algorithm was developed and ensured safe interactions between robot and fragile tissues for FLP surgery. The US probe attached to the robot was controlled by a hybrid position-force control strategy. For evaluation, four fetoscope motion profiles were investigated on a custom-designed phantom. The system achieved a 78.87% visibility rate for the US image evaluation. The contact force was 0.99 ± 0.68 N during the tracking to ensure the patient's safety. The proposed system demonstrates the capability of accurate real-time fetoscope tracking.

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Active Handheld Flexible Fetoscope–Design and Control Based on a Modified Generalized Prandtl-Ishlinski Model

Cited by 8 publications

References 23 publications

Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction

Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction

A Method Based on 3D Shape Analysis Towards the Design of Flexible Instruments for Endoscopic Maxillary Sinus Surgery

Development of Robot-assisted Ultrasound System for Fetoscopic Tracking in Twin to Twin Transfusion Syndrome Surgery

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