Image-based robotic steering of advanced flexible endoscopes and instruments

Reilink, Rob

doi:10.3990/1.9789036535267

Cited by 3 publications

(7 citation statements)

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“…A setup could have been added that allows robotic steering and shaft control (4-DOF) with a Phantom Omni controller with one hand (like setup 2 and 3) and manual control of an ANUBIS steerable instrument (Figure 1.8) with the other hand. However, research of Reilink et al [2013] already showed that robotic control is preferred if compared with manual control of a steerable instrument.…”

Section: Methodsmentioning

confidence: 99%

“…It uses the camera image as input instead of the motor position. Reilink [2013] has conducted research on this topic. His work could be helpful in improving the intuitive mapping of hand and instrument movements.…”

Section: Input Devicementioning

confidence: 99%

“…However, at the time of performing our experiments these devices and the required algorithms to implement haptics were not available. Future research should address these potential control improvements, supported by the work of Reilink [2013].…”

Section: Design Directions For Robotic Instrument Manipulationmentioning

confidence: 99%

“…In work of Reilink [2013] a robotic intervention platform is presented that allows physicians to control a steerable instrument in an intuitive way using a multi-DOF input device. Performance with the manual control method and the robotic setup are compared in an usability test.…”

Section: Introductionmentioning

confidence: 99%

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Robotic flexible endoscope

Ruiter¹

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Section: Methodsmentioning

confidence: 99%

Section: Input Devicementioning

confidence: 99%

Section: Design Directions For Robotic Instrument Manipulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robotic flexible endoscope

Ruiter¹

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“…Ruiter (2013) [30]. The use of haptic and image guidance was described in the dissertation of Dr. R. Reilink (2012) [35]. Extension of the platform using image guided navigation options was described in the dissertation of Dr. N. Van der Stap (2016) [36].…”

Section: Robotic Add-on Platformmentioning

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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State of the art in robots used in minimally invasive surgeries. Natural Orifice Transluminal Surgery (NOTES) as a particular case

Díaz

Fernández

Armada

et al. 2015

Industrial Robot: An International Journal

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Purpose – This paper aims to provide an insight into recent advancements and developments of robotics for Natural Orifice Transluminal Surgery (NOTES) procedures. Design/methodology/approach – Following an introduction that highlights the evolution from Minimally Invasive Surgery (MIS) to NOTES in the medical field, this paper reviews the main robotics systems that have been designed and implemented for MIS and NOTES, summarising their advantages and limitations and remarking the technological challenges and the requirements that still should be addressed and fulfilled. Findings – The state-of-the-art presented in this paper shows that the majority of the platforms created for NOTES are laboratory prototypes, and their performances are still far from being optimal. New solutions are required to solve the problems confronted by the proposed systems such as the limited number of DOFs, the limited resolution, the optimal fixation and stiffening of the instruments for enabling stable and precise operation, the effective transmission of forces to the tip tools, the improvement of the force feedback feeling and the proper visualization and spatial orientation of the surgical field. Advances in robotics can contribute significantly to the development and future implementation of the NOTES procedure. Originality/value – This paper highlights the current trends and challenges ahead in robotics applied to NOTES procedure.

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Image-based robotic steering of advanced flexible endoscopes and instruments

Abstract: The cover illustration shows the Anubis flexible endoscope within the gastrointestinal tract. Illustration by Derk Reilink.

Cited by 3 publications

References 57 publications

Robotic flexible endoscope

Robotic flexible endoscope

Robotic steering of flexible endoscopes

State of the art in robots used in minimally invasive surgeries. Natural Orifice Transluminal Surgery (NOTES) as a particular case

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