Single-handed controller reduces the workload of flexible endoscopy

Rozeboom, Esther; Ruiter, Jeroen; Franken, Michel; Schwartz, Matthijs P.; Broeders, I. A. M. J.

doi:10.1007/s11701-014-0473-0

Cited by 4 publications

(7 citation statements)

References 17 publications

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“…Various mechanical innovations, such as a conventional colonoscope's knob [6], and user-friendly joysticks [7], [8], have been studied to develop new devices that are easier to use than traditional FCs and help reduce surgeons' workload. Additionally, several master-slave systems [9] and haptic devices [10] have been developed to assist operators in precisely controlling the device, leading to reduced operator effort and improved safety.…”

Section: Introductionmentioning

confidence: 99%

“…Despite remarkable progress in mechanism, navigation or autonomous operation design in the field of colonoscopy, there are still technical challenges that require attention. These challenges include inadequate mobility in assistedrobot colonoscopy [6]- [8], unreliable approaches for lumen detection and navigation [14]- [20], lengthy intubation times [13], [22], [23], low success rates [11], [13], and inadequately developed autonomous systems [11], [13], [22]. Additionally, magnetic-based systems have the drawback of requiring a more prolonged intubation time, potentially leading to increased patient discomfort or pain.…”

Section: Introductionmentioning

confidence: 99%

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An End-to-End Learning-Based Control Signal Prediction for Autonomous Robotic Colonoscopy

Nguyen,

Hwang,

Kim

et al. 2024

IEEE Access

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We introduce a novel 3 degrees-of-freedom based robotic colonoscopy system that performs the necessary movements for colonoscopy while working within the movement range of a flexible colonoscope (FC). In addition, we have developed deep learning models to generate motor control signals directly from input images without the need for motor control signal labels. The first presented model comprises a deep learning algorithm for predicting steering points and an image-based visual servo control (IBVS) algorithm for generating the motor control signal. The experiments showed that the proposed model's cecal intubation time (CIT) and rate (CIR) are comparable to those of human operators, despite requiring a shorter training time. Furthermore, we propose a model that replaces the IBVS algorithm with a deep learning algorithm that does not rely on rotation angles. The second model showed similar CIT (165s) and CIR (92%) compared to the first model. Finally, the last model, which solely comprises a single deep learning algorithm, demonstrates a reduction in CIT (127s) and an increase in CIR (96%), resulting in reduced physical demand for operators, improved safety, and shorter patient recovery time.INDEX TERMS Robotic colonoscopy, autonomous system, deep learning, visual servo control.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An End-to-End Learning-Based Control Signal Prediction for Autonomous Robotic Colonoscopy

Nguyen,

Hwang,

Kim

et al. 2024

IEEE Access

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“…Looking into other limitations in MIS, a better control method is needed to reduce the dependencies on the communication between surgeon and the assistant who controls the endoscope during an intervention. Several solutions had been proposed to move the control from the assistant to the surgeon directly, such as single-hand controlled [10], body controlled [11], eye-movement controlled [12], image-guided [13] [14], and lastly a head-controlled endoscope system, [15] which is relevant to the control approach used in this study.…”

Section: Introductionmentioning

confidence: 99%

Development of Haptic Approaches for a Head-Controlled Soft Robotic Endoscope

Mak

Lanciano

Abayazid

2020

2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

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Recent advances in soft robotics are utilized to solve challenges in endoscopy, such as maneuverability, flexibility, and the structural stiffness required to deliver enough force during endoscopic surgical procedure. Other major challenge is the lack of haptic feedback from the tool end-effector to the surgeon. Current clinical practice in minimally invasive intervention requires an assistant to control the camera since the surgeon is preoccupied with task at hand, creating a indirect control procedure for maneuvering the endoscope. For the soft robotic endoscope, we implemented a haptic feedback interface along with a novel control method to concurrently tackle these challenges. The user of the developed system can visualise the planned 2D insertion path and steer the endoscope module accordingly using an inertial measurement unit mounted on a head-band. Furthermore, five different haptic feedback methods (three kinesthetic and two vibrotactile) were compared in term of user accuracy while steering the endoscope along a planned path. The results show that the user's accuracy using kinesthetic and vibrotactile feedback were comparable, however, participants of this study find vibrotactile feedback approach more preferable for its intuitiveness and comfort. † Y. X. Mak and A. Lanciano contributed equally towards the results of this paper This work is financially supported by ITEA-3 funding organization under 17021 IMPACT project.

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“…None of the five gastroscopes reached the maximal angulation. Overall, the maximal colonoscope angles deviated at a median of 20 degrees (IQR [10][11][12][13][14][15][16][17][18][19][20] and at a maximum of 50 degrees from the manufacturer's prescribed settings (Table 8.3).…”

Section: Resultsmentioning

confidence: 99%

“…The right hand controls the endoscope shaft (5) with the distal bendable tip (6). Reprint from [11] 1.1.2 Current challenges Current mechanical control of endoscopes is not perfect. It takes on average 275 procedures to learn the motor skills to adequately perform colonoscopy [12,13].…”

Section: Steering a Flexible Endoscopementioning

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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Single-handed controller reduces the workload of flexible endoscopy

Cited by 4 publications

References 17 publications

An End-to-End Learning-Based Control Signal Prediction for Autonomous Robotic Colonoscopy

An End-to-End Learning-Based Control Signal Prediction for Autonomous Robotic Colonoscopy

Development of Haptic Approaches for a Head-Controlled Soft Robotic Endoscope

Robotic steering of flexible endoscopes

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