Relevant bibliographies by topics / Robotic flexible endoscopes

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Robotic flexible endoscopes'

Author: Grafiati
Published: 11 March 2023

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Journal articles on the topic "Robotic flexible endoscopes"

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Zhang, Aoyu, Zhimin Han, Xiguang Wang, Randall Briggs, and Tianyu Xie. "Mixed control scheme for accurate control of robotic flexible endoscope." International Journal of Advanced Robotic Systems 14, no. 2 (March 1, 2017): 172988141770250. http://dx.doi.org/10.1177/1729881417702506.

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Tendon-driven endoscopes are mainly used in the current practice. Their flexible bodies may change frequently during the processes of biopsy, endoscopic mucosal resection or endoscopic submucosal dissection. These changes lead to backlash hysteresis and nonlinear friction effects, which make it difficult to achieve accurate control. To address this problem, a mixed control scheme based on the combination of discrete and continuous models was proposed and quantitatively compared with a conventional feedback control scheme, a feedforward control scheme and an adaptive control scheme. These experiments were conducted using a robotic gastroscope. The results showed that our control scheme can achieve more accurate tracking performance when the configuration changes frequently, with mean square error of tracking performance decreased by 50–75%.
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García, Gabriela, Nikola Fischer, Christian Marzi, and Franziska Mathis-Ullrich. "Robotic Sensorized Gastroendoscopy with Wireless Single-Hand Control." Current Directions in Biomedical Engineering 8, no. 1 (July 1, 2022): 66–69. http://dx.doi.org/10.1515/cdbme-2022-0017.

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Abstract The manipulation of flexible endoscopes is a procedure that requires great dexterity since it requires the synchronization and use of both hands in parallel. Imprecise handling during gastroendoscopy could harm the digestive tract. Our solution allows the physician to use only one hand to wirelessly control the forward, backward, and tip bending motion. The proposed system provides endoscopic vision and tactile impact force sensing at the tip to detect the force applied to tissue and thus avoid damage. We experimentally evaluate the handling of the robotic system in open space and inside a medical phantom. The results revealed a training effect with less time demand for task completion and reduction of average impact force after only 5 runs. The proposed system was successfully controlled using one hand and, together with the force information, could enhance the physician’s experience during endoscopy. Future work will address axial control and an intensive user study with clinical experts.
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Rassweiler-Seyfried, Marie-Claire, Jonas Herrmann, Jan Klein, Maurice-Stephan Michel, Jens Rassweiler, and Britta Grüne. "Robot-assisted flexible ureterorenoscopy: state of the art in 2022." Mini-invasive Surgery 6 (2022): 41. http://dx.doi.org/10.20517/2574-1225.2022.41.

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Due to the technical improvements in endoscopes and armamentarium, flexible ureterorenoscopy (fURS) has increased in the management of nephrolithiasis over the last decade. fURS is a challenging procedure and therefore limited in some regions. To overcome these challenges, a master-slave robotic system might help dominate fURS. As with other robotic systems, the ergonomic deficits of fURS play an important role in the development of a new robot. All ureterorenoscopy (URS) robots thus far consist of a surgeon’s console and the manipulator of a flexible ureterorenoscope. Handling and maneuverability of the different systems vary, but the master-salve system is common to all robots. Optimal ergonomics and comparable surgical results to conventional flexible URS demonstrate the successful use of some of these robots. In this narrative review, we provide an update on the robot-assisted flexible ureterorenoscopy, the different systems, and the final role and future perspective of robotic fURS.
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Zeng, Ming, Yu-Jia Li, Tao Ren, and Qing Tu. "Material stiffness control of compliant tools by using electromagnetic suction." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 13 (February 28, 2019): 4719–28. http://dx.doi.org/10.1177/0954406219834059.

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Variable rigidity materials that are safe, controllable, reversible, and repeatable have potentially widespread implications in robotic technologies. This paper presents a method for controlling the stiffness of materials for compliant tools, such as grippers, soft robots, and endoscopes. The force of electromagnetic suction transforms two structures from their relaxed-state into a more rigid state. The system presented here has the ability of quickly increasing the stiffness with increased current in the coils that create electromagnetic suction, wherein the stiffness can be controlled by the variation of supply current. The process of controlling stiffness variation is reversible and repeatable under the safe voltage of human body. The system can lead to the production of tools that are small, flexible, dexterous, and safe. Suction force, friction force, and rotational stiffness were calculated to evaluate the performance of the system. Experiments were carried out to verify the proposed concept and the calculations.
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Nakayama, Meijin, Ryan K. Orosco, F. Christopher Holsinger, Giuseppe Spriano, Giovanni Succo, Armando De Virgilio, and Nobuhiko Oridate. "Endoscopic Transoral Hybrid Supracricoid Partial Laryngectomy with Cricohyoidoepiglottopexy." Annals of Otology, Rhinology & Laryngology 129, no. 3 (October 31, 2019): 273–79. http://dx.doi.org/10.1177/0003489419885139.

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Objectives: The hybrid supracricoid partial laryngectomy with cricohyoidoepiglottopexy (SCPL-CHEP, that is, open partial horizontal laryngectomies OPHL Type IIa) has been described using a flexible next generation robotic surgical platform for manipulation. We sought to evaluate the feasibility of performing this procedure using endoscopic transoral (EndoT) surgical techniques without robotics. Methods: Preclinical cadaveric study using two human cadavers. Hybrid SCPL-CHEP was performed with a flexible endoscope for visualization and hand-held instruments for manipulation (SILS Hook monopolar and Dissect, HAVAS LaryngoFIT malleable straight jaw instruments, and Stratafix 4-0 spiral knotless barbed suture). Results: EndoT hybrid SCPL-CHEP was successfully performed. The hand-manipulated rigid instruments allowed for transoral incisions and mucosal suturing. We provide the procedural steps of EndoT hybrid techniques. Conclusions: EndoT hybrid SCPL-CHEP was technically feasible in the preclinical cadaveric laboratory setting and appeared comparable to the hybrid SCPL-CHEP via transoral robotic surgery (TORS). Selected handheld instruments and flexible endoscopy appear to facilitate minimally invasive surgery of the larynx. This novel procedure and technique warrant further clinical study for consideration of feasibility, applicability, and patient benefit.
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Boškoski, Ivo, Beatrice Orlandini, Luigi Giovanni Papparella, Maria Valeria Matteo, Martina De Siena, Valerio Pontecorvi, and Guido Costamagna. "Robotics and Artificial Intelligence in Gastrointestinal Endoscopy: Updated Review of the Literature and State of the Art." Current Robotics Reports 2, no. 1 (February 1, 2021): 43–54. http://dx.doi.org/10.1007/s43154-020-00040-3.

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Abstract Purpose of Review Gastrointestinal endoscopy includes a wide range of procedures that has dramatically evolved over the past decades. Robotic endoscopy and artificial intelligence are expanding the horizons of traditional techniques and will play a key role in clinical practice in the near future. Understanding the main available devices and procedures is a key unmet need. This review aims to assess the current and future applications of the most recently developed endoscopy robots. Recent Findings Even though a few devices have gained approval for clinical application, the majority of robotic and artificial intelligence systems are yet to become an integral part of the current endoscopic instrumentarium. Some of the innovative endoscopic devices and artificial intelligence systems are dedicated to complex procedures such as endoscopic submucosal dissection, whereas others aim to improve diagnostic techniques such as colonoscopy. Summary A review on flexible endoscopic robotics and artificial intelligence systems is presented here, showing the m3ost recently approved and experimental devices and artificial intelligence systems for diagnosis and robotic endoscopy.
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Kim, Sang Hyun, Hyuk Soon Choi, Jae Min Lee, Bora Keum, Byung Gon Kim, Daehie Hong, Yoon Tae Jeen, and Hoon Jai Chun. "Gastric endoscopic submucosal dissection using a detachable assistant robot." Journal of Clinical Oncology 40, no. 4_suppl (February 1, 2022): 318. http://dx.doi.org/10.1200/jco.2022.40.4_suppl.318.

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318 Background: Effective traction and counter-traction for visualizing the dissection plane in endoscopic submucosal dissection (ESD) is difficult to be achieved with a conventional endoscope. We developed a robotic assistive traction device for flexible endoscopy that provides multi-directional traction during ESD. We compared its safety and efficiency in ESD between experienced and novice endoscopists. Methods: Robotic ESD was performed by experienced and novice endoscopist groups (n = 2, each). The outcomes included time to complete each ESD step, total procedure time, size of the dissected mucosa, rate of en bloc resection, and major adverse events. Furthermore, incision and dissection speeds were compared between groups. Results: Twenty gastric lesions were resected from nine live pigs. The submucosal incision speed was significantly faster in the expert group than in the novice group (P = 0.002). There was no significant difference in the submucosal dissection speed between the groups (P = 0.365). No complications were reported in either group. Conclusions: When the robot was assisting in the ESD procedure, the dissection speed improved significantly, especially in the novice surgeons. Our robotic device can provide simple, effective, and safe multidirectional traction during ESD.
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Nakadate, Ryu, Tsutomu Iwasa, Shinya Onogi, Jumpei Arata, Susumu Oguri, Yasuharu Okamoto, Tomohiko Akahoshi, Masatoshi Eto, and Makoto Hashizume. "Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study." Cyborg and Bionic Systems 2020 (December 5, 2020): 1–9. http://dx.doi.org/10.34133/2020/8378025.

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Early-stage gastrointestinal cancer is often treated by endoscopic submucosal dissection (ESD) using a flexible endoscope. Compared with conventional percutaneous surgery, ESD is much less invasive and provides a high quality of life for the patient because it does not require a skin incision, and the organ is preserved. However, the operator must be highly skilled because ESD requires using a flexible endoscope with energy devices, which have limited degrees of freedom. To facilitate easier manipulation of these flexible devices, we developed a surgical robot comprising a flexible endoscope and two articulating instruments. The robotic system is based on a conventional flexible endoscope, and an extrapolated motor unit moves the endoscope in all its degrees of freedom. The instruments are thin enough to allow insertion of two instruments into the endoscope channel, and each instrument has a bending section that allows for up–down, right–left, and forward–backward motion. In this study, we performed an ex vivo feasibility evaluation using the proposed robotic system for ESD in a porcine stomach. The procedure was successfully performed by five novice operators without complications. Our findings demonstrated the feasibility of the proposed robotic system and, furthermore, suggest that even operators with limited experience can use this system to perform ESD.
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Ciuti, Gastone, Karolina Skonieczna-Żydecka, Wojciech Marlicz, Veronica Iacovacci, Hongbin Liu, Danail Stoyanov, Alberto Arezzo, et al. "Frontiers of Robotic Colonoscopy: A Comprehensive Review of Robotic Colonoscopes and Technologies." Journal of Clinical Medicine 9, no. 6 (May 31, 2020): 1648. http://dx.doi.org/10.3390/jcm9061648.

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Flexible colonoscopy remains the prime mean of screening for colorectal cancer (CRC) and the gold standard of all population-based screening pathways around the world. Almost 60% of CRC deaths could be prevented with screening. However, colonoscopy attendance rates are affected by discomfort, fear of pain and embarrassment or loss of control during the procedure. Moreover, the emergence and global thread of new communicable diseases might seriously affect the functioning of contemporary centres performing gastrointestinal endoscopy. Innovative solutions are needed: artificial intelligence (AI) and physical robotics will drastically contribute for the future of the healthcare services. The translation of robotic technologies from traditional surgery to minimally invasive endoscopic interventions is an emerging field, mainly challenged by the tough requirements for miniaturization. Pioneering approaches for robotic colonoscopy have been reported in the nineties, with the appearance of inchworm-like devices. Since then, robotic colonoscopes with assistive functionalities have become commercially available. Research prototypes promise enhanced accessibility and flexibility for future therapeutic interventions, even via autonomous or robotic-assisted agents, such as robotic capsules. Furthermore, the pairing of such endoscopic systems with AI-enabled image analysis and recognition methods promises enhanced diagnostic yield. By assembling a multidisciplinary team of engineers and endoscopists, the paper aims to provide a contemporary and highly-pictorial critical review for robotic colonoscopes, hence providing clinicians and researchers with a glimpse of the major changes and challenges that lie ahead.
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Morino, Mario, and Alberto Arezzo. "Transanal Local Excision or Endoscopic Dissection for Benign and Large Lesions of the Rectum." Clinics in Colon and Rectal Surgery 35, no. 02 (February 28, 2022): 106–12. http://dx.doi.org/10.1055/s-0042-1744356.

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AbstractSince the introduction of transanal endoscopic microsurgery, local excision of “early” rectal lesions has offered the possibility to reduce the invasiveness of treatment for the limited disease. Flexible endoscopy techniques allow today different alternatives consisting of endoscopic mucosal resection or endoscopic submucosal dissection. The first is a straightforward and relatively easy technique, but it prevents a correct pathological staging of the lesion due to fragmentation and the verification of disease-free margins. The second relies on operators' audacity depending on their increasing experience due to the limited progress in technology. What is the preferable technique today is questionable. All the methods have pros and cons. The future certainly will see the use of ideal systems, allowing the possibility of precision surgery for partial- or full-thickness excision, depending on intraoperative findings, and the extension above the rectosigmoid junction. Miniaturized flexible robotic devices may represent the solution for both issues.
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Dissertations / Theses on the topic "Robotic flexible endoscopes"

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Cabras, Paolo. "3D Pose estimation of continuously deformable instruments in robotic endoscopic surgery." Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD007/document.

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Connaître la position 3D d’instruments robotisés peut être très utile dans le contexte chirurgical. Nous proposons deux méthodes automatiques pour déduire la pose 3D d’un instrument avec une unique section pliable et équipé avec des marqueurs colorés, en utilisant uniquement les images fournies par la caméra monoculaire incorporée dans l'endoscope. Une méthode basée sur les graphes permet segmenter les marqueurs et leurs coins apparents sont extraits en détectant la transition de couleur le long des courbes de Bézier qui modélisent les points du bord. Ces primitives sont utilisées pour estimer la pose 3D de l'instrument en utilisant un modèle adaptatif qui prend en compte les jeux mécaniques du système. Pour éviter les limites de cette approche dérivants des incertitudes sur le modèle géométrique, la fonction image-position-3D peut être appris selon un ensemble d’entrainement. Deux techniques ont été étudiées et améliorées : réseau des fonctions à base radiale avec noyaux gaussiens et une régression localement pondérée. Les méthodes proposées sont validées sur une cellule expérimentale robotique et sur des séquences in-vivo
Knowing the 3D position of robotized instruments can be useful in surgical context for e.g. their automatic control or gesture guidance. We propose two methods to infer the 3D pose of a single bending section instrument equipped with colored markers using only the images provided by the monocular camera embedded in the endoscope. A graph-based method is used to segment the markers. Their corners are extracted by detecting color transitions along Bézier curves fitted on edge points. These features are used to estimate the 3D pose of the instrument using an adaptive model that takes into account the mechanical plays of the system. Since this method can be affected by model uncertainties, the image-to-3d function can be learned according to a training set. We opted for two techniques that have been improved : Radial Basis Function Network with Gaussian kernel and Locally Weighted Projection. The proposed methods are validated on a robotic experimental cell and in in-vivo sequences
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Cauche, Nicolas. "Conception et modélisation d'une plateforme flexible d'endoscopie digestive." Doctoral thesis, Universite Libre de Bruxelles, 2014. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/247639.

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Les endoscopes utilisés en gastro-entérologie ne permettent pas d’obtenir une réelle chirurgie dans le tube digestif en passant par les voies naturelles. Cette thèse a pour ambition de pallier ce manquement grâce au développement d’une plate-forme de triangulation universelle. Cette plateforme donne la possibilité au gastro-entérologue d’augmenter de manière significative ses possibilités thérapeutiques en lui permettant de réaliser des actes chirurgicaux de base tels que “soulever-couper” et “suturer” les tissus. Ces actes ne peuvent être réalisés qu’extrêmement difficilement avec les endoscopes conventionnels. Ils constituent pourtant les éléments essentiels en vue de traiter l’obésité morbide ou le traitement du reflux gastro-oesophagien par les voies naturelles. La caractéristique principale de la plate-forme développée dans cette thèse est son universalité lui permettant une utilisation avec pratiquement n’importe quel type d’endoscope et outils thérapeutiques existants sur le marché. La plate-forme a obtenu le marquage CE. Des études cliniques ont été réalisées avec cet instrument dans le cadre du traitement de l’obésité. Cette thèse comprend également une méthodologie de conception pour des guidages flexibles utilisés dans le domaine médical. Cette méthodologie basée sur l’élaboration d’abaques théoriques permet, d’une part, à partir des desiderata du médecin, d’identifier les paramètres externes (rigidité, longueur.) d’un guidage flexible et ce peu importe le type de guidage utilisé et, d’autre part, de déduire les paramètres internes associés à ces paramètres externes pour un type de guidage particulier: un élastomère renforcé par un ressort hélicoïdal. La méthode a été appliquée `a posteriori `a la plate-forme de triangulation et donne, dans ce cas, de bons résultats. Flexible endoscopes used in gastro-enterology do not allowed a real surgery in the gastrointestinal tract passing through natural orifices. This thesis aimed to overcome these limitations by developing a universal triangulation platform. This platform allows the gastro-enterologist to significantly increase his therapeutic possibilities by enabling him to perform basic surgical procedures such as "lifting-cutting" and "suturing" the tissues. These procedures can only be performed with extreme difficulty with conventional endoscopes. They are, however, the essential elements for the treatment of morbid obesity or gastroesophageal reflux through natural orifice. The main feature of the platform developed in this thesis is its universality allowing it to be used with any type of endoscopes and existing tools available on the market. The platform has obtained the CE marking. Clinical studies have been conducted with this instrument for treatment of obesity. This thesis includes also a design methodology for flexible guides used in the medical field. This methodology, based on the elaboration of theoretical abacuses, allows, firstly, from the physician's specifications, to identify the external parameters (rigidity, length .) of the flexible guide regardless of the type of the used guide. Secondly, it allows to determine the internal parameters associated with these external parameters for a particular type of guide: an elastomer reinforced by a helical spring. The method was applied a posteriori to the triangulation platform and, in this case, gives good results.
Doctorat en Sciences de l'ingénieur et technologie
info:eu-repo/semantics/nonPublished
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Caravaca, Mora Oscar Mauricio. "Development of a novel method using optical coherence tomography (OCT) for guidance of robotized interventional endoscopy." Thesis, Strasbourg, 2020. http://www.theses.fr/2020STRAD004.

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Il manque actuellement aux médecins une nouvelle méthode qui rationalise le traitement peu invasif pour en faire des procédures à opérateur unique, assistées par une caractérisation précise des tissus in situ et en temps réel, en situation de prise de décisions dans la gestion du cancer colorectal. Une solution prometteuse à ce problème a été développée par l'équipe AVR (Automatique, Vision et Robotique) du laboratoire ICube, au sein de laquelle l'endoscope interventionnel flexible (fabriqué par Karl Storz) a été entièrement robotisé, permettant ainsi à un seul opérateur de télémanipuler indépendamment l'endoscope et deux instruments thérapeutiques insérables, grâce à unité de contrôle commune. Cependant, l'endoscope flexible assisté par robot est soumis aux mêmes limites de précision diagnostique que les systèmes d'endoscopie standards. Il a été démontré que l'OCT endoscopique présente un potentiel pour l'imagerie des troubles de la voie gastro-intestinale et pour la différenciation de tissus sains des tissus malades. Actuellement, l'OCT se limite à l'imagerie de l'œsophage humain, qui présente une géométrie simple et un accès facile. Ni l'OCT, ni l'endoscope robotisé ne peuvent résoudre à eux seuls les limites de la norme actuelle de soins pour la prise en charge d’un cancer du côlon. La combinaison de ces deux technologies et le développement d'une nouvelle plate-forme pour la détection et le traitement précoce du cancer constituent l'objet principal de cette thèse, avec la vision de développer une console d'imagerie OCT et une sonde de haute technologie intégrée à l'endoscope robotisé. Ce système permet d'obtenir des images de l'intérieur du gros intestin pour la caractérisation des tissus et l'assistance au traitement, permettant ainsi à un seul opérateur d'effectuer une intervention peu invasive en mode télémanipulation
There exists an unmet clinical need to provide doctors with a new method that streamlines minimally invasive endoscopic treatment of colorectal cancer to single operator procedures assisted by in-situ and real-time accurate tissue characterization for informed treatment decisions. A promising solution to this problem has been developed at the ICube laboratory, in which the flexible interventional endoscope (Karl Storz) was completely robotized, so allowing a single operator to independently telemanipulate the endoscope and two insertable therapeutic instruments with a joint control unit. However, the robot-assisted flexible endoscope is subject to the same diagnostic accuracy limitations as standard endoscopy systems. It has been demonstrated that endoscopic optical coherence tomography (OCT) has a good potential for imaging disorders in the gastrointestinal tract and differentiating healthy tissue from diseased. Neither OCT, nor the robotized endoscope can solve the limitations of current standard of care for colon cancer management alone. Combining these two technologies and developing a new platform for early detection and treatment of cancer is the main interest of this work, with the aim of developing a state-of-the-art OCT imaging console and probe integrated with the robotized endoscope. The capabilities of this new technology for imaging of the interior of the large intestine were tested in pre-clinical experiments showing potential for improvement in margin verification during minimally invasive endoscopic treatment in the telemanipulation mode
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Guiqiu, Liao. "Analysis and correction of OCT images for the control of robotic flexible endoscopes." Doctoral thesis, 2022. https://hdl.handle.net/11562/1084166.

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This doctoral research is focused on overcoming problems in autonomous surgical procedures when instruments have to navigate towards the clinical target by accurate self-localization in the front of certain tissue and, simultaneously, to build a map of the luminal environment for medical diagnosis. Vision-based approaches using stable tissue texture are highly desirable for a wide range of applications. Optical Coherence Tomography (OCT) [1] is an imaging technique of great importance in biomedical optical applications. The backscattered light is measured of the internal structure of biological tissues to provide high resolution, axial and three-dimensional images of the sample. Endoscopic OCT catheter has been applied into cardiovascular, respiratory and digestive systems for imaging of internal structures. In gastroenterology, a balloon and capsule based catheters have been developed for imaging of the esophagus. Catheter-based imaging systems have limited Field of View (FoV), especially when considering OCT systems which emphasize more on the image resolution. For small lumens such as the vasculature and esophagus, volume reconstruction from one pull back scanning using an OCT system can be sufficient for accessing the entire lumen. However, for larger luminal environments as the colon or stomach, the link between reconstruction, robot planning and robot control needs to be established e.g. the link with robot control is needed in order to realize a certain scanning behavior, which would be necessary to make reconstruction efficient and accurate. This side-viewing catheter could be employed to actively follow the lumen wall with a robotic endoscope. The OCT augmented endoscope can provide more accurate navigation feedback for the control system. The robotic endoscope also has a camera in the distal part, which can perform a rough global navigation to aid the OCT system’s local scanning. In the local scanning process, ideally, the distance between the OCT probe and the tissue is controlled to be constant. This could keep the tissue always in the FoV of the OCT, especially for luminal tissue with a complex geometry like the colon. Another type of safe scanning mode could also be realized with contact between the OCT catheter and the colon tissue surface. In this case, a segmentation algorithm is required to provide real-time quantitative feedback about the contact or the distance. For volumetric reconstruction from the robotic scanning, computer vision and imaging processing techniques including incremental mapping or Structure from-Motion (SfM) can be deployed. The main aims could be divided into the following three: - Find an efficient configuration for robotic endoscope navigation. To achieve this task, the OCT images first need to be stabilized to improve its orientation accuracy. - Information perception for both diagnosis and navigation purpose. Tailor the machine learning based computer vision algorithm for side-viewing imaging modalities. - Design automatic scanning strategies for larger lumen environment with small FoV side-viewing probes, incorporate local navigation information with global navigation information.
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Book chapters on the topic "Robotic flexible endoscopes"

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Rodríguez-Luna, María Rita, Margherita Pizzicannella, and Silvana Perretta. "Robotic Flexible Endoscopes." In Innovative Endoscopic and Surgical Technology in the GI Tract, 69–80. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-78217-7_6.

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Sušić, Ivan, Azhar Zam, Philippe C. Cattin, and Georg Rauter. "Enabling Minimal Invasive Palpation in Flexible Robotic Endoscopes." In Mechanisms and Machine Science, 70–77. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00329-6_9.

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van der Stap, Nanda, C. H. Slump, Ivo A. M. J. Broeders, and Ferdi van der Heijden. "Image-Based Navigation for a Robotized Flexible Endoscope." In Computer-Assisted and Robotic Endoscopy, 77–87. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-13410-9_8.

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Szewczyk, J., V. de Sars, Ph Bidaud, and G. Dumont. "An active tubular polyarticulated micro-system for flexible endoscope." In Experimental Robotics VII, 179–88. Berlin, Heidelberg: Springer Berlin Heidelberg, 2001. http://dx.doi.org/10.1007/3-540-45118-8_19.

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van der Stap, Nanda, Luuk Voskuilen, Guido de Jong, Hendrikus J. M. Pullens, Matthijs P. Schwartz, Ivo Broeders, and Ferdi van der Heijden. "A Real-Time Target Tracking Algorithm for a Robotic Flexible Endoscopy Platform." In Computer-Assisted and Robotic Endoscopy, 81–89. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-29965-5_8.

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Seah, Tian En Timothy, Thanh Nho Do, Nobuyoshi Takeshita, Khek Yu Ho, and Soo Jay Phee. "Flexible Robotic Endoscopy Systems and the Future Ahead." In Clinical Gastroenterology, 521–36. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-62993-3_41.

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Li, Jian, Xue Zhang, Yisen Huang, Xiao Luo, Ke Xie, Yitian Xian, Philip Waiyan Chiu, and Zheng Li. "3D Visual Servo Control of a Flexible Endoscope with RCM Constraint." In Intelligent Robotics and Applications, 53–63. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13841-6_5.

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Guan, Bo, Xingchi Liu, Zhikang Ma, Jianchang Zhao, Yuelin Zou, and Jianmin Li. "Safety Motion Control and End Force Estimation Based on Angle Information in Robotic Flexible Endoscopy." In Intelligent Robotics and Applications, 396–408. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13835-5_36.

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Mourgues, Fabien, and Éve Coste-Maniére. "Flexible Calibration of Actuated Stereoscopic Endoscope for Overlay in Robot Assisted Surgery." In Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002, 25–34. Berlin, Heidelberg: Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45786-0_4.

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Low, Soon Chiang, Soo Jay Phee, S. W. Tang, Z. M. Thant, K. Y. Ho, and S. C. Chung. "Master-Slave Robotic System for Therapeutic Gastrointestinal Endoscopic Procedures." In Encyclopedia of Healthcare Information Systems, 860–65. IGI Global, 2008. http://dx.doi.org/10.4018/978-1-59904-889-5.ch107.

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Flexible endoscopy is used to inspect and treat disorders of the gastrointestinal (GI) tract without the need for creating an artificial opening on the patient’s body (Phee, Ng, Chen, Seow, & Davies, 1997). The endoscope is introduced via the mouth or anus into the upper or lower GI tracts respectively. A miniature camera at the distal end captures images of the GI wall that help the clinician in diagnosis of the GI diseases. Simple surgical procedures (like polypectomy and biopsy) can be performed by introducing a flexible tool via a working channel to reach the site of interest at the distal end. The types of procedures that can be performed in this manner are limited by the lack of maneuverability of the tool. More technically demanding surgical procedures like hemostasis for arterial bleeding, suturing to mend a perforation, and fundoplication for gastrooesophageal reflux cannot be effectively achieved with flexible endoscopy. These procedures are often presently being performed under opened or laparoscopic surgeries.
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Conference papers on the topic "Robotic flexible endoscopes"

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Slawinski, Piotr R., Collin T. Garcia, Addisu Z. Taddese, Keith L. Obstein, and Pietro Valdastri. "Towards Recovering a Lost Degree of Freedom in Magnet-Driven Robotic Capsule Endoscopy." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3391.

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Flexible endoscopy, a procedure during which an operator pushes a semi-rigid endoscope through a patient’s gastrointestinal tract, has been the gold-standard screening method for colon cancer screening (colonoscopy) for over 50 years. Owing to the large amounts of tissue stress that result from the need for transmitting a force to the tip of the endoscope while the device wraps through the bowel, implementing a front-actuated endoscopy system has been a popular area of research [1]. The pursuit of such a concept was accelerated by the advent of ingestible capsule endoscopes, which, since then, have been augmented by researchers to include therapeutic capabilities, modalities for maneuverability, amongst other diagnostic functions [2]. One of the more common approaches investigated has been the use of magnetic fields to apply forces and torques to steer the tip of an endoscope [3]. Recent efforts in magnetic actuation have resulted in the use of robot manipulators with permanent magnets at their end effectors that are used to manipulate endoscopes with embedded permanent magnets. Recently, we implemented closed loop control of a tethered magnetic capsule by using real-time magnetic localization and the linearization of a magnetic wrench applied to the capsule by the actuating magnet [4]. This control was implemented in 2 degrees-of-freedom (DoF) in position (in the horizontal plane) and 2 DoF in orientation (panning and tilting). One DoF in position is lost owing to the tethered capsule being actuated in air and thus lacking a restoring force to counter the high field gradient. The 3rd orientation DoF is lost owing to the axial symmetry of the permanent magnet in the capsule; this prevents the application of torque in the axial direction and thus controlled roll and introduces a singularity in the capsule’s actuation. Although another dipole could be used to eliminate this singularity, this would complicate both the actuation and localization methods. In this manuscript, we consider the consequences of the embedded magnet (EM) being radially offset from the center of the capsule while being manipulated by an external actuating magnet (AM). We have developed a tethered capsule endoscope that contains a cylindrical EM (11.11 mm in length and diameter) with a residual flux density of 1.48 T that is offset by 1.85 mm from the center of the capsule; a distance that is less than 10% of the capsule diameter. Our investigation into the topic results from repeated observation of the capsule’s preference to align such that the internal magnet is closest to the actuating magnet (AM). The AM is a cylindrical magnet (101.6 mm in length and diameter) with a residual flux density of 1.48 T that is mounted at the end effector of a 6 DoF manipulator, as seen in Figure 1. In this manuscript, we evaluate the torqueing effects of the presence of this magnet offset with the goal of determining whether the torque effect is negligible, or impacts capsule motion and thus can potentially be used for the benefit of endoscope manipulation. A concept schematic of this effect is shown in Figure 2. A discussion of how to use this torque is beyond the scope of this manuscript. To the authors’ knowledge, the use of such concept in permanent-magnet based control has not been investigated.
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Chin, Wei Jian, Carl A. Nelson, and Chi Min Seow. "Articulated Mechanism Design and Kinematics for Natural Orifice Translumenal Endoscopic Surgery Robot." In ASME 2011 International Mechanical Engineering Congress and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/imece2011-62572.

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Natural orifice translumenal endoscopic surgery (NOTES) has reduced the invasiveness of surgery by eliminating external incisions on the patient. With this type of procedure, recovery time is drastically shortened, cosmetics are improved, and infections and pain are greatly reduced. For NOTES procedures to be successfully performed, a flexible endoscope or similar instrument is important for passing orifice flexures. However, technological deficiencies like poor angulations of surgical instruments introduced through working channels in flexible endoscopes, the lack of scope fixation, and lack of scope stiffening are technological barriers which prevent NOTES from being widely accepted in human surgeries. A novel multifunctional robot with an articulated drive mechanism for NOTES has been developed. The steerable articulating drive mechanism is connected to the robotic end effector to guide the robot and navigate through a natural orifice. The design process for the articulating drive mechanism and engineering analysis are discussed in this paper. Workspace of the drive mechanism with and without a translational insertion degree of freedom is presented in detail. The kinematics of the drive mechanism is also discussed. Additionally, friction in the spherical joints of the drive mechanism is explored to characterize its influence on the overall shape achieved by the articulation, including the effects of varying the total length in the steering mechanism. The surgeon control console for the drive mechanism is briefly discussed as well. Bench-top testing results are presented as proof of feasibility of the design.
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Munnae, Jomkwun, Gary McMurray, and Harvey Lipkin. "Static and Kinematic Analysis of a Planar Cable-Driven Flexible Endoscope." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87542.

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Flexible endoscopes are mainly used for diagnostics and performing simple therapeutic tasks inside human cavities but are now becoming the key instrument for the incisionless surgery known as natural orifice transluminal endoscopic surgery (NOTES). Since the current endoscope technology gives limited maneuverability, dexterity, and functionality, a number of new endoscope designs have been proposed. Due to miniaturization, conduit, and actuation simplicity, many of the new designs rely on cable-actuating mechanisms similar to the current technology. Basic kinematical and static analyses for this device have not appeared in the literature. In this paper the articulated section of a planar cable-driven endoscope is modeled as a serial robot. The kinematic and static analyses for single-jointed and multi-jointed endoscope structures are performed to relate tip motion to the controlling inputs. Pre-tensioning cables increases the endoscope stiffness and extends its range of operation.
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Cheung, L. W., K. C. Lau, Flora F. Leung, Donald N. F. Ip, Henry G. H. Chow, Philip W. Y. Chiu, and Y. Yam. "Distal Joint Rotation Mechanism for Endoscopic Robot Manipulation." In The Hamlyn Symposium on Medical Robotics: "MedTech Reimagined". The Hamlyn Centre, Imperial College London London, UK, 2022. http://dx.doi.org/10.31256/hsmr2022.74.

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Robot-assisted Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) are commonly adopted in Gastro-Intestinal (GI) cancer treatment with Endoscopic Submucosal Dissection (ESD). While using fully flexible cable- driven robots brings benefits to patients such as lower rate of complications and shorter healing time, the engineering challenges, for example, size and stiffness, manufacturability and sensorless environment, limit functionalities of robotic instruments and surgery performance. The rolling feature, rotation along the wrist of the instrument, is a good-to-have feature for surgical procedures with orientational and positional requirements such as tractioning and suturing with graspers. In traditional laparoscopy, rolling can be achieved by rotating the long straight rod of the instruments, which is straightforward and effective. However, this is not commonly found in cable-driven endoscopic robotic systems due to mechanical limit for linear-to-rolling motion conversion at distal-end and unmodelled friction resisting torque transmission from proximal-end. Generally, researchers have three approaches to this problem. First, rotate the endoscope or overtube and the instrument together [1] [2]. However, this is not favorable to both surgeon and patient since rotating a twisted endoscope inside a patient’s body requires a large amount of torque and rubbing would create discomfort to the patient. Second, rotate the torque coil or backbone of the instrument [3] [4]. Because friction inside the endoscope is unpredicted and rotation is coupled with roll, pitch, and yaw motion, sophisticated modeling, shape/orientation sensing feedback may be required for robotic automation. Third, develop a distal mechanism to convert cable linear motion into axial rotation [5] [6]. With this method, the coupling problem is solved and power transmission efficiency is improved but a larger and more complicated design is required, and an extra-rigid segment is usually unavoidable. The performance depends greatly on design and implementation. This paper aims to demonstrate a scalable distal joint rotation mechanism for continuum endoscopic robots that can increase instrument dexterity and manipulability to ease the work of surgeons.
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Roppenecker, Daniel B., Mattias F. Traeger, Jan D. J. Gumprecht, and Tim C. Lueth. "How to Design and Create a Cardan Shaft for a Single Port Robot by Selective Laser Sintering." In ASME 2012 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/imece2012-87654.

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With the spread of endoscopic interventions the postoperative stress for patients has been reduced clearly. These interventions through natural orifices of the body (Natural orifice transluminal endoscopic surgery: NOTES) need miniaturized instruments with high precision, high range of motion and a high force load transmission. Our aim is to develop a mechatronic, single-port robotic system to guide and move flexible endoscopic instruments and optics inside the body. The system should be adapted to a flexible endoscope and consists of two flexible and actuated end-effectors that carry and manipulate flexible instruments. Due to the flexible end of the structure, laparoscopic single-port surgery through one incision and endoscopic surgery through a natural orifice would be possible. The concepts and prototypes were realized by selective laser sintering (SLS). One way to create flexible structures for a single use robot is to use universal joints assembled together in series. Next, selective laser sintering can now print these parts with the joints already assembled, in one part. There is no need for assembling or adhesive bonding. The final step is to replace the real joints of the cardan shafts with elastic joints. The proposed joints are made by the powder PA 2200 based on nylon. This basic powder is certificated as biocompatible according to ISO 10993-1. The challenge in this new field of printed medical robotics is to define a manufacturing process that enables you to design a part, create it by SLS and get it approved as a medical product.
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Gerald, Arincheyan, Rukaiya Batliwala, Jonathan Ye, Patra Hsu, Hiroyuki Aihara, and Sheila Russo. "A Haptic Feedback Glove for Minimally Invasive Surgery." In The Hamlyn Symposium on Medical Robotics: "MedTech Reimagined". The Hamlyn Centre, Imperial College London London, UK, 2022. http://dx.doi.org/10.31256/hsmr2022.9.

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Robot-assisted minimally invasive surgery (MIS) has countless benefits over open surgery, from shorter re- covery times and lower risk procedures for the patient to higher accuracy and broader capabilities for the surgeon [1]. However, a significant detriment to these procedures is that current systems lack haptic feedback. The lack of haptic feedback in MIS forces the surgeon to depend merely on visual cues, such as the deformation of tissue under load, to estimate the forces [1]. The likely outcome of misreading these cues is torn tissue, patient discomfort or broken sutures [2]. Moreover, haptic feed- back is specifically vital for robot-assisted endoscopy procedures. A recent study evaluating an Endoscopic Operation Robot (EOR) concluded that haptic feedback is beneficial in remote manipulation of flexible endo- scopes. When haptic feedback was absent there were more incidences of overstretching of sigmoid colon in a colonoscopy training model [3]. This work presents a soft robotic glove that provides haptic feedback for endoscopic procedures (Fig. 1, A). In our previous work, we introduced a soft robotic sleeve [4] that can detect forces between a colonoscope and colon walls during navigation. The glove receives force input from the soft robotic sleeve wrapped around the colonoscope (Fig. 1, B). Any incident force on the sleeve, during endoscopic navigation, is relayed to the surgeon as haptic feedback through proportional inflation of the glove’s pneumatic actuators.
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Goergen, Yannik, Rouven Britz, Michele Mandolino, Gianluca Rizzello, and Paul Motzki. "A Novel Compact Concept Design of an SMA Based Endoscope." In ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/smasis2022-90957.

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Abstract Since continuum robots are applicable in many areas, including industry and medicine, research interest in this field is continuously increasing. A crucial aspect to effectively control their complex motion is the type of actuators. Common solutions are characterized by bulky driving units placed at the base of the robot. Although these solutions allow preserving the lightweight nature of the active part, they affect the weight, size, and mobility of the total system. This paper presents a novel concept of a fully integrated continuum robotic endoscope driven by shape memory alloy (SMA) wire actuators. These unconventional actuators are integrated within the flexible structure, resulting in a compact and lightweight overall robotic structure. The mechanical design and assembly are first described in detail showing the unique features. Furthermore, the design of an SMA driven autofocus system is described. In the future, the autofocus should be integrated within the tip of the robot and allows adjusting the focus of a camera.
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Lehman, A. C., N. A. Wood, J. Dumpert, D. Oleynikov, and S. M. Farritor. "Towards Autonomous Robot-Assisted Natural Orifice Translumenal Endoscopic Surgery." In ASME 2008 International Mechanical Engineering Congress and Exposition. ASMEDC, 2008. http://dx.doi.org/10.1115/imece2008-66614.

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Natural Orifice Translumenal Endoscopic Surgery (NOTES) promises to reduce the invasiveness of surgical procedures by accessing the peritoneal cavity through a natural orifice. Current tools for performing NOTES are based on the flexible endoscopy platform, and are significantly limited in imaging and manipulation by the size and geometry of the natural lumen. For NOTES to revolutionize minimally invasive surgery, new approaches are necessary that enable the surgeon to perform procedures with vision and dexterity equivalent to laparoscopic procedures. An image-guided, two-armed, dexterous miniature NOTES robot has been developed that can be placed into the peritoneal cavity through a transgastric incision. Using this robot, the surgeon has effectively demonstrated tissue dissection in non-survivable animal model procedures. A next step in the development of miniature in vivo robots is the automation of routinely performed, low level surgical tasks. This paper details work towards autonomous tissue dissection using the NOTES robot. As a first step, visual tracking and robot control methods are being developed.
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Kogkas, K. K., B. Glover, N. Patel, A. Darzi, and G. P. Mylonas. "Gaze-contingent Robotic Flexible Endoscopy." In The Hamlyn Symposium on Medical Robotics. The Hamlyn Centre, Faculty of Engineering, Imperial College London, 2019. http://dx.doi.org/10.31256/hsmr2019.20.

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Zhang, L. A., R. Khare, E. Wilson, S. X. Wang, C. A. Peters, and K. Cleary. "Robotic assistance for manipulating a flexible endoscope." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6907650.

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