Intuitive master device for endoscopic robots with visual‐motor correspondence

Abstract

Background: Master devices exclusively used for endoscopes with position control are being developed as an isomorphic form of endoscopes. These master devices are difficult to intuitively operate because the movement direction of the endoscopic image and control handle do not match. Methods:To solve this problem, a master device was developed. Its movement direction is compatible with that of the endoscopic image. It analyzes image movements according to flexible endoscopic ureteroscope movements for each degree of freedom. A driving testbed experiment was conducted that modelled the internal structure of a kidney. Results:The time taken in the experiment was shorter when using the proposed master device than the existing isomorphic master device. The proposed device yielded fewer mistakes. Conclusions:It was confirmed the proposed device is effective in exclusive use for endoscopes because of its feasibility of position control and movement direction's coinciding with that of the endoscopic image.

Intuitive endoscopic robot master device with image orientation correction

“… Pelvicalyceal system testbed: (A) kidney anatomy, (B) pelvicalyceal system testbed and control board for micro photo sensor, (C) calyx model inside the testbed, and (D) real and testbed calyces. Adapted from Cheon et al 32 …”