Design and evaluation of robotic steering of a flexible endoscope

Ruiter, Jeroen; Rozeboom, Esther; Voort, Mascha C. van der; Bonnema, Maarten; Broeders, I. A. M. J.

doi:10.1109/biorob.2012.6290272

Cited by 45 publications

(37 citation statements)

References 22 publications

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“…It holds potential to lower the costs of diagnostic and small therapeutic intraluminal procedures, and to increase patient safety. At the University of Twente a telemanipulation system for flexible endoscopes is being developed [29], [38]. The primary goal is to develop a cockpit-like surgical platform for complex intraluminal interventions and improve current diagnostics and therapies.…”

Section: Discussionmentioning

confidence: 99%

Towards automated visual flexible endoscope navigation

2013

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Section: Discussionmentioning

confidence: 99%

Towards automated visual flexible endoscope navigation

2013

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“…In the domain of minimally invasive endoscopic procedures, several research groups have developed robotically assisted prototypes. Ruiter et al presented a robotic drive system for colonoscopy using a joystick and a touch controller [5]. Fang et al presented a prototype hand held manipulator to motorize a flexible rhinoscope during ENT procedures [6].…”

Section: Introductionmentioning

confidence: 99%

Robotically assisted ureteroscopy for kidney exploration

et al. 2017

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Ureteroscopy is a minimally invasive procedure for diagnosis and treatment of a wide range of urinary tract pathologies. It is most commonly performed in the diagnostic work-up of hematuria and the diagnosis and treatment of upper urinary tract malignancies and calculi. Ergonomic and visualization challenges as well as radiation exposure are limitations to conventional ureteroscopy. For example, for diagnostic tumor inspection, the urologist has to maneuver the ureteroscope through each of the 6 to 12 calyces in the kidney under fluoroscopy to ensure complete surveillance. Therefore, we have been developing a robotic system to “power drive” a flexible fiber-optic ureteroscope with 3D tip tracking and pre-operative image overlay. Our goal is to provide the urologist precise control of the ureteroscope tip with less radiation exposure. Our prototype system allows control of the three degrees of freedom of the ureteroscope via brushless motors and a joystick interface. The robot provides a steady platform for controlling the ureteroscope. Furthermore, the robot design facilitates a quick “snap-in” of the ureteroscope, thus allowing the ureteroscope to be mounted midway through the procedure. We have completed the mechanical system and the controlling software and begun evaluation using a kidney phantom. We put MRI-compatible fiducials on the phantom and obtained MR images. We registered these images with the robot using an electromagnetic tracking system and paired-point registration. The system is described and initial evaluation results are given in this paper.

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“…1. Conventional rhinoscopy [12]: (1) monitor with endoscopic images, (2) bending lever, (3) flexible rhino endoscope, (4) light cable, (5) endoscopic camera, (6) distal bending tip, (7) nasal cavity.…”

Section: Introductionmentioning

confidence: 99%

“…Static system description of the image-guided endoscope steering: (1) flexible rhino endoscope, (2) manipulator, (3) monitor, (4) frame grabber,(5) computer, (6) distributor box, (7) foot pedal.…”

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Image-guided steering of a motorized hand-held flexible rhino endoscope in ENT diagnoses

Chen¹,

Weiwei²,

Gumprecht

et al. 2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Flexible rhino endoscopes have been extensively used in many surgical and diagnostic procedures, such as in a rhinoscopy to examine the tumor or polyp in nasal cavity. However, the orientation of flexible endoscopes is only based on the endoscopic images, making its manipulation complex and requiring clinical experience. Therefore, we proposed a hand-held manipulator to motorize a standard flexible rhino endoscope.In this paper, we present a method to steer the motorized flexible rhino endoscope by using endoscopic images. A vision technique is used to extract the dark region from the image, which represents the distant inner space of nasal cavity and indicates the heading direction of the endoscope. Using this computer recognized target orientation, automatic endoscope steering becomes possible. Experiments were conducted in an anatomical model to simulate rhinoscopy. The results show that the image-guided steering is significantly faster than traditional manual steering and that the measured accuracy of the system fulfills current clinical requirements.Manuscript received October 15, 2012. We would like to thank the Deutsche Forschungsgesellschaft (German research foundation) for funding this research project through the grant LU 604/24-1 and the company Karl Storz (Tuttlingen, Germany) for providing the flexible endoscope.

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Design and evaluation of robotic steering of a flexible endoscope

Cited by 45 publications

References 22 publications

Towards automated visual flexible endoscope navigation

Towards automated visual flexible endoscope navigation

Robotically assisted ureteroscopy for kidney exploration

Image-guided steering of a motorized hand-held flexible rhino endoscope in ENT diagnoses

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