Experimental Evaluation Using Head Motion and Augmented Reality to Intuitively Control a Flexible Endoscope

Mak, Yoeko X.; Zegel, Maurits; Abayazid, Momen; Mariani, Massimo A.

doi:10.1109/biorob52689.2022.9925526

Cited by 5 publications

(1 citation statement)

References 29 publications

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“…Indeed, a variety of controllers and emerging technologies, e.g. eye trackers [55], gesture recognition [56], voice/speech recognition [57], mixed reality headsets [58], and handheld motion-sensing controllers [59], have recently been investigated for endoscope control in research domains. These technologies provide means for endoscopists to navigate, manipulate instruments, and interact with the endoscope with eye movements, hand gestures, spoken commands, augmented visualization, and natural hand movements.…”

Section: Discussionmentioning

confidence: 99%

A Framework for the Evaluation of Human Machine Interfaces of Robot-Assisted Colonoscopy

Finocchiaro,

Banfi,

Donaire

et al. 2024

IEEE Trans. Biomed. Eng.

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The Human Machine Interface (HMI) of intraluminal robots has a crucial impact on the clinician's performance. It increases or decreases the difficulty of the tasks, and is connected to the users' physical and mental stress. Objective: This paper presents a framework to compare and evaluate different HMI for robotic colonoscopy, with the objective of identifying the optimal HMI that minimises the clinician's effort and maximises the clinical outcomes. Methods: The framework comprises a (1) a virtual simulator (clinically validated), (2) wearable sensors measuring the cognitive load, (3) a data collection unit of metrics correlated to the clinical performances, and (4) questionnaires exploring the users' impressions and perceived stress. The framework was tested with 42 clinicians investigating the optimal device for teleoperated control of robotic colonoscopes. Two control devices were selected and compared: a haptic serial-kinematic device and a standard videogame joypad. Results: The haptic device was preferred by the endoscopists, but the joypad enabled better clinical performance and reduced cognitive and physical load. Conclusion: The framework can be used to evaluate different aspects of HMI, both hardware and software, and determine the optimal HMI that can reduce the burden on clinicians while improving the clinical outcome. Significance: The findings of this study, and of future studies performed with this framework, can inform the design and development of HMI for intraluminal robots, leading to improved clinical performance, reduced physical and mental stress for clinicians, and ultimately better patient outcomes.

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Section: Discussionmentioning

confidence: 99%

A Framework for the Evaluation of Human Machine Interfaces of Robot-Assisted Colonoscopy

Finocchiaro,

Banfi,

Donaire

et al. 2024

IEEE Trans. Biomed. Eng.

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User interfaces for actuated scope maneuvering in surgical systems: a scoping review

et al. 2023

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Background A variety of human computer interfaces are used by robotic surgical systems to control and actuate camera scopes during minimally invasive surgery. The purpose of this review is to examine the different user interfaces used in both commercial systems and research prototypes. Methods A comprehensive scoping review of scientific literature was conducted using PubMed and IEEE Xplore databases to identify user interfaces used in commercial products and research prototypes of robotic surgical systems and robotic scope holders. Papers related to actuated scopes with human–computer interfaces were included. Several aspects of user interfaces for scope manipulation in commercial and research systems were reviewed. Results Scope assistance was classified into robotic surgical systems (for multiple port, single port, and natural orifice) and robotic scope holders (for rigid, articulated, and flexible endoscopes). Benefits and drawbacks of control by different user interfaces such as foot, hand, voice, head, eye, and tool tracking were outlined. In the review, it was observed that hand control, with its familiarity and intuitiveness, is the most used interface in commercially available systems. Control by foot, head tracking, and tool tracking are increasingly used to address limitations, such as interruptions to surgical workflow, caused by using a hand interface. Conclusion Integrating a combination of different user interfaces for scope manipulation may provide maximum benefit for the surgeons. However, smooth transition between interfaces might pose a challenge while combining controls.

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A generic scope actuation system for flexible endoscopes

Basha,

Khorasani,

Abdurahiman

et al. 2023

Surg Endosc

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Background A scope actuation system assists a surgeon in steering a scope for navigating an operative field during an interventional or diagnostic procedure. Each system is tailored for a specific surgical procedure. The development of a generic scope actuation system could assist various laparoscopic and endoscopic procedures. This has the potential to reduce the deployment and maintenance costs for a hospital, making it more accessible for clinical usage. Methods A modular actuation system (for maneuvering rigid laparoscopes) was adapted to enable incorporation of flexible endoscopes. The design simplifies the installation and disassembly processes. User studies were conducted to assess the ability of the system to focus onto a diagnostic area, and to navigate during a simulated esophagogastroduodenoscopy procedure. During the studies, the endoscope was maneuvered with (robotic mode) and without (manual mode) the actuation system to navigate the endoscope’s focus on a predefined track. Results Results show that the robotic mode performed better than the manual mode on all the measured performance parameters including (a) the total duration to traverse a track, (b) the percentage of time spent outside a track while traversing, and (c) the number of times the scope focus shifts outside the track. Additionally, robotic mode also reduced the perceived workload based on the NASA-TLX scale. Conclusions The proposed scope actuation system enhances the maneuverability of flexible endoscopes. It also lays the groundwork for future development of modular and generic scope assistant systems that can be used in both laparoscopic and endoscopic procedures.

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Experimental Evaluation Using Head Motion and Augmented Reality to Intuitively Control a Flexible Endoscope

Cited by 5 publications

References 29 publications

A Framework for the Evaluation of Human Machine Interfaces of Robot-Assisted Colonoscopy

A Framework for the Evaluation of Human Machine Interfaces of Robot-Assisted Colonoscopy

User interfaces for actuated scope maneuvering in surgical systems: a scoping review

A generic scope actuation system for flexible endoscopes

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