Comparison of manual steering and steering via joystick of a flexible rhino endoscope

Eckl, R.; Gumprecht, Jan D. J.; Strauß, Gero; Hofer, Matthias; Dietz, Andreas; Lueth, Tim C.

doi:10.1109/iembs.2010.5626433

Cited by 7 publications

(7 citation statements)

References 7 publications

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“…However, according to the research results of Allemann et al. and Eckl et al., the joystick has fewer advantages than manual operation, and the operation time is longer when controlling the endoscope robots 12,13 . It is advantageous to use a joystick when the endoscope is used for diagnostic purposes such as the observation of affected areas and conducting biopsies.…”

Section: Introductionmentioning

confidence: 99%

Intuitive master device for endoscopic robots with visual‐motor correspondence

Cheon

Baek

Kim

et al. 2022

Robotics Computer Surgery

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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.

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Section: Introductionmentioning

confidence: 99%

Intuitive master device for endoscopic robots with visual‐motor correspondence

Cheon

Baek

Kim

et al. 2022

Robotics Computer Surgery

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“…Previous studies showed that remote actuation platforms could not yet compete with the efficiency of conventional endoscope control [38,62,71]. The setup of these platforms prevented adequate scope manipulation [62,72,73]. This study shows that our setup and interface enable at least as efficient manipulation of the endoscope and effective visualization of the bowel wall.…”

Section: Discussionmentioning

confidence: 76%

“…Despite intuitive and ergonomic shortcomings of the conventional endoscope, experts are competent in scope manipulation without causing excessive patient pain [13,42]. Previous studies showed that remote actuation platforms could not yet compete with the efficiency of conventional endoscope control [38,62,71]. The setup of these platforms prevented adequate scope manipulation [62,72,73].…”

Section: Discussionmentioning

confidence: 99%

“…However, recent studies remain inconclusive concerning the effects of a robotic setup with intuitive interfaces on efficiency of endoscope manipulation [38,61,62]. Allemann et al [38] report that both novices and experts required significantly more time to complete a maneuvering task when using a joystick compared to using the conventional system.…”

Section: Introductionmentioning

confidence: 99%

“…They expect improvements with learning and adaptations to the described interface. Eckl et al [62] found no significant difference in the efficiency of novices bending a flexible rhino endoscope whether using a joystick or the conventional control method. In summary, there are inconclusive results and the used control setup is vital to the outcome.…”

Section: Introductionmentioning

confidence: 99%

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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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