Development of a novel endoscopic manipulation system: The Endoscopic operation robot

Kume, Keiichiro; Kuroki, Takeshi; Sugihara, Takahiro; Shinngai, Masafumi

doi:10.4253/wjge.v3.i7.145

Cited by 37 publications

(35 citation statements)

References 20 publications

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“…This hesitation was caused, at least partially, by technical reasons: in early surgical robotic systems, haptic feedback was either patched on or estimated/simulated, the performance of which was rather limited, hence surgeons were less in favor of the outcomes [48]. However, with the fast developments in robotic technology, recent surgical systems with haptic feedback are equipped with new force sensors and very well implemented control [52,53], and as a result, more and more studies showed that haptic feedback became one of the most wanted features for the next generation of surgical robots [54][55][56][57][58][59].…”

Section: Innovations For Hapticsmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

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The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

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Section: Innovations For Hapticsmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

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show abstract

“…Despite intuitive and ergonomic shortcomings of the conventional endoscope, experts are competent in scope manipulation without causing excessive patient pain [13,42]. Previous studies showed that remote actuation platforms could not yet compete with the efficiency of conventional endoscope control [38,62,71]. The setup of these platforms prevented adequate scope manipulation [62,72,73].…”

Section: Discussionmentioning

confidence: 99%

“…Previously introduced robotic designs provide single-person control of multiple steerable instruments [21,23,37,71,75]. However, none of these systems have also proven the essential versatility to arrive at intervention sites that are difficult to reach in humans.…”

Section: Introductionmentioning

confidence: 99%

Robotic steering of flexible endoscopes

Rozeboom¹

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SummaryFlexible endoscopes were originally designed for non-invasive inspection of body cavities and hollow organs. Today, they are also used for complex minimal invasive interventions. Control of the endoscope is difficult and complexity rises with interventional procedures. Endoscopists suffer from long learning curves, ergonomic complaints and multi-person control is needed to steer endoscope and instrument(s).Robotics have the potential to overcome these problems. The combined forces of a technical university, mechatronic company and physicians from multiple hospitals led to the design of an add-on robotic platform. The platform aims to improve usability of conventional flexible endoscopes for complex interventions. These interventions require accurate and precise tip steering.This thesis describes the design and clinical evaluation of the platform's tip steering module. An optimal user interface and control algorithm was sought to improve usability of the endoscope in clinical practise.First, critical user aspects of conventional gastro-and colonoscopes were identified and copied to the robotic platform. The control module includes a remote interface that was evaluated by novices in a simulated colonoscopy environment. This study indicated that robotic steering, using a position-controlled touchpad or a ratecontrolled joystick increases efficiency and satisfaction. However, breaking the mechanical linkage between operator and endoscope tip led to a lack of force feedback on tip bending.The first results did not show a clear preference between two regular user interfaces and their control algorithms. A position-controlled touchpad has benefits for precise targeting (instrument placement), whereas a rate-controlled joystick is better suited for quick tip steering (lumen navigation). Endoscopy requires both quick and precise tip motions. The second study describes the design of a non-linear rate iii control algorithm. This study showed that between regular intuitive interfaces, the joystick with non-linear rate control showed highest efficiency and users' preference.A single-handed controller was introduced to further reduce the experienced workload of flexible endoscopy. The controller was compared to a bimanual interface and conventional control in a simulated colonoscopy procedure. Both the single-handed and a bimanual controller reduced the workload of colonoscopy without reducing efficiency or effectiveness. Despite the single-handed approach, novices appeared to steer the endoscope tip and shaft consecutively, not simultaneously. Making bimanual control the logical route to pursue.The first three studies indicated that the platform changed the current routine of handling an endoscope. A fourth study was designed to determine if expert endoscopists and endoscopists in training were able to perform the complex manoeuvres required in colonoscopy. Experts and PhD students without previous hands-on experience trained on a computer simulator to perform colonoscope intubation. Experts needed a relatively short ...

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“…Its application in therapeutic procedures has not been tested. Although the authors suggest the possibility of clinical application of the system, it is far from being ready for clinical implementation [Kume et al, 2011]. [Kume et al, 2011] All described systems are mainly developed to assist in navigating the lumen in diagnostic procedures.…”

Section: Related Workmentioning

confidence: 99%

“…Although the authors suggest the possibility of clinical application of the system, it is far from being ready for clinical implementation [Kume et al, 2011]. [Kume et al, 2011] All described systems are mainly developed to assist in navigating the lumen in diagnostic procedures. A system that assists in performing advanced therapeutic procedures by robotizing all degrees of freedom of a flexible endoscope, and that is steered with one hand, does not exist.…”

Section: Related Workmentioning

confidence: 99%

Robotic flexible endoscope

Ruiter¹

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Development of a novel endoscopic manipulation system: The Endoscopic operation robot

Abstract: The study suggested the possibility of the clinical application of the EOR.

Cited by 37 publications

References 20 publications

The Next-Generation Surgical Robots

The Next-Generation Surgical Robots

Robotic steering of flexible endoscopes

Robotic flexible endoscope

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