A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD

Zorn, Lucile; Nageotte, Florent; Zanne, Philippe; Légner, András; Dallemagne, Bernard; Marescaux, Jacques; Mathelin, Michel de

doi:10.1109/tbme.2017.2720739

Cited by 101 publications

(91 citation statements)

References 26 publications

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“…Future applications and developments of endoscopy robots will be in high‐resolution imaging, 3‐D vision, advanced optical analytics, 3‐D modeling algorithms, drug delivery, implementation of lasers and ultrasound. An interesting point in the development of endoscopy robots is autonomous locomotion, a field where much work has been done, but is still in its initial phase . As it concerns costs, the good point is that health systems around the globe are becoming more cost conscious and, hopefully, this will lead to widespread technology .…”

Section: Discussionmentioning

confidence: 99%

“…An interesting point in the development of endoscopy robots is autonomous locomotion, a field where much work has been done, but is still in its initial phase. 22,23 As it concerns costs, the good point is that health systems around the globe are becoming more cost conscious and, hopefully, this will lead to widespread technology. 24 At the moment, it is not possible to make a cost-effectiveness study as all known robotic endoscopic platforms are either in development or in the phase of animal/human trials; therefore, no data are available to make this evaluation.…”

Section: Discussionmentioning

confidence: 99%

“…In a recent publication, 12 colorectal ESD were carried out in pigs with the STRAS system and large rectal lesions were removed. 23 The authors compared the dissection speeds with those obtained in similar conditions with the manual Anubiscope platform from Karl Storz. There were significant improvements (P = 0.01) in dissection time, maneuverability and degrees of movement.…”

Section: Isis-scope/stras Systemmentioning

confidence: 99%

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Endoscopy robotics: Current and future applications

Boškoski

Costamagna

2018

Digestive Endoscopy

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Many different types of endoscopy robot have been developed or are under development. Some of these innovative biotechnologies are dedicated to complex endoscopic procedures such as endoscopic submucosal dissection whereas others are purely diagnostic. In endoscopy robotics, there are still several problems that need a solution. These problems basically concern robotic locomotion and instrument control, as well as clinical application. In most cases, the technology is still under development. The current fields of investigation are augmented reality, advances in actuation and reduction of hysteresis, optical analysis, wireless movement transmission and many others. Besides endoscopic submucosal dissection, other promising fields of implementation of endoscopy robots are natural orifices transluminal endoscopic surgery and bariatric endoscopy. Obviously, endoscopy robots are expensive, but both doctors and health system providers are becoming more aware of the possibilities that these platforms can offer. Improvement of the performance of endoscopy robots undoubtedly will lead to their widespread use and, therefore, a balance in cost-effectiveness.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Isis-scope/stras Systemmentioning

confidence: 99%

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Endoscopy robotics: Current and future applications

Boškoski

Costamagna

2018

Digestive Endoscopy

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“…The surgical tool used in this study was designed considering the workspace of the endoscopic robot platform K-FLEX developed by KAIST. 18 Considering the size of the tool developed in this study and the difference in length of the endoscopic robot platform surgical tool already developed, [19][20][21] the length of the needle coupler used to perform the pointing task was increased and decreased by 15 mm.…”

Section: Pointing Task With Different Link Lengthsmentioning

confidence: 99%

Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot

Kim

Hwang

Kim

et al. 2019

Robotics Computer Surgery

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Background: The tendon-sheath mechanism provides flexibility but degrades the task performance of the flexible endoscopic robot because of the inherent backlash hysteresis problem. Previous studies have only focused on reducing backlash hysteresis.The goal of this study is to identify the backlash hysteresis criteria of surgical tool bending joints to maintain efficient surgical performance. Methods:A test platform for a surgical tool has been developed that has initial backlash hysteresis under 5 and can adjust the backlash hysteresis intentionally. Performance variation has been investigated in three bench-top endoscopic tasks in which various backlash hysteresis conditions were intentionally adjusted. Results:A clear drop-off in task performance has been observed when the backlash hysteresis of the bending joints was greater than 10 regardless of the type of task and link length. Conclusions:The backlash hysteresis of surgical tool bending joints should be reduced to at least 10 to maintain efficient performance in robotic endoscopic surgery. K E Y W O R D Sendoscopy, force control, human-machine interfaces, telesurgery

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“…La introducción de asistentes robóticos como colaboradores en este tipo de técnicas [1] obtienen beneficios tanto para el paciente como mejorar los movimientos y la percepción de los cirujanos. Este tipo de sistemas robóticos deben tener una Interfaz Hombre-Máquina (HMI) intuitiva para que puedan ayudar al cirujano adecuadamente durante el procedimiento quirúrgico.…”

Section: Introductionunclassified

Sistema de reconocimiento de gestos para cirugía asistida con la mano

López-Casado¹,

Bauzano²,

Rivas-Blanco³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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ResumenLas técnicas de cirugía mínimamente invasiva están aumentando en cantidad y complejidad para cubrir una más amplia gama de intervenciones. Más específicamente, la Cirugía Laparoscópica Asistida con Mano (Hand-assisted laparoscopic surgery, HALS) implica el uso de una mano del cirujano dentro del paciente, mientras que la otra maneja una herramienta laparoscópica. En este caso, procedimientos quirúrgicos realizados con una herramienta adicional requieren la ayuda de un asistente. Además, en el caso de un asistente robótico, es obligatoria una comunicación fluida. Esta Interacción Hombre-Máquina debe combinar tantoórdenes explícitas como información implícita de los gestos quirúrgicos. En este contexto, este trabajo se centra en el desarrollo de un sistema de reconocimiento de gestos de la mano.Éste se basa en un modelo oculto de Markov (HMM) con un paso de entrenamiento automatizado mejorado. Este algoritmo también puede aprender durante el procedimiento quirúrgico en línea.Palabras clave: aprendizaje colaborativo, robots asistivos, técnicas de interacción.Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de Septiembre de 2018 42

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A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD

Abstract: The concepts developed for STRAS are validated and could bring new tools for surgeons to improve comfort, ease, and performances for intraluminal surgical endoscopy.

Cited by 101 publications

References 26 publications

Endoscopy robotics: Current and future applications

Endoscopy robotics: Current and future applications

Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot

Sistema de reconocimiento de gestos para cirugía asistida con la mano

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