Determining scope position during colonoscopy without use of ionizing radiation or magnetic imaging: the enhanced mapping ability of the NeoGuide Endoscopy System

Striegel, Johannes; Jakobs, Ralf; Dam, Jacques Van; Weickert, U.; Riemann, Jürgen F.; Eickhoff, Axel

doi:10.1007/s00464-010-1245-1

Cited by 18 publications

(11 citation statements)

References 24 publications

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“…While these tendon-driven mechanisms are commonly applied as manually-operated instruments, noteworthy efforts have been made to robotize them for catheters [6–12] and endoscopes [13–16] with higher DOF motion. In particular for tendon-driven endoscopes, tendon-driven mechanism is used to aim cameras to intended surgical sites while avoiding complexity of control for multiple bending sections and multiple tendons.…”

Section: Introductionmentioning

confidence: 99%

Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation

et al. 2015

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Purpose The hysteresis operation is an outstanding issue in tendon-driven actuation—which is used in robot-assisted surgery—as it is incompatible with kinematic mapping for control and trajectory planning. Here, a new tendon-driven continuum robot, designed to fit existing neuroendoscopes, is presented with kinematic mapping for hysteresis operation. Methods With attention to tension in tendons as a salient factor of the hysteresis operation, extended forward kinematic mapping (FKM) has been developed. In the experiment, the significance of every component in the robot for the hysteresis operation has been investigated. Moreover, the prediction accuracy of postures by the extended FKM has been determined experimentally and compared with piecewise constant curvature assumption (PCCA). Results The tendons were the most predominant factor affecting the hysteresis operation of the robot. The extended FKM including friction in tendons predicted the postures in the hysteresis operation with improved accuracy (2.89 mm and 3.87 mm for the single and the antagonistic tendons layouts, respectively). The measured accuracy was within the target value of 5 mm for planning of neuroendoscopic resection of intraventricle tumors. Conclusion The friction in tendons was the most predominant factor for the hysteresis operation in the robot. The extended FKM including this factor can improve prediction accuracy of the postures in the hysteresis operation. The trajectory of the new robot can be planned within target value for the neuroendoscopic procedure by using the extended FKM.

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Section: Introductionmentioning

confidence: 99%

Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation

et al. 2015

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“…MEI is currently used to aid performance assessment during the Bowel Cancer Screening accreditation process in the United Kingdom, and some evidence from single-center studies has demonstrated that it can enhance the acquisition of colonoscopy skills in trainees [17,18]. A novel computer-assisted colonoscope (NeoGuide Endoscopy System) that generates real-time three-dimensional map images of the scope and the colonic lumen is effective in providing accurate information regarding tip position, insertion tube position, and colonic looping [19].…”

Section: General Principles and Simple Maneuversmentioning

confidence: 98%

Technical Advances in Getting to the Cecum

Lau

2010

Curr Colorectal Cancer Rep

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Clinical demand for colonoscopy has increased with the introduction of colorectal cancer screening worldwide. The goal is a complete, comfortable, and high-quality procedure. Up to one third of colonoscopies are challenging, and incomplete colonoscopy occurs in 10% of cases. High cecal intubation rates can be achieved by minimizing air insufflation and looping, and by using ancillary maneuvers such as position change and abdominal pressure. In difficult cases, changing to a non-standard endoscope, the use of magnetic endoscopic imaging, and endoscopic accessories including a transparent cap or an overtube can be an effective measure. The use of carbon dioxide instead of air insufflation reduces post-procedure discomfort. A new technique involving water immersion in lieu of air insufflation may reduce discomfort and facilitate insertion to the cecum. Data from alternative novel colonoscopy platforms including capsule colonoscopy, Neoguide, Invendoscope, and the Aer-O-scope appear promising, and prospective clinical studies are warranted.

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“…The platform allows the colonoscopist to have accurate images of the tip position, endoscope shaft configuration and luminal views. 19 …”

Section: Neoguide (Intuitive Surgical)mentioning

confidence: 99%

The endoscopy evolution: ‘the superscope era’

Patel

Darzi

Teare

2014

Frontline Gastroenterol

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Developments to the design of the flexible endoscope are transforming the field of gastroenterology. There is a drive to improve colonic adenoma detection rates leading to advancements in the design of the colonoscope. Novel endoscopes now allow increased visualisation of colonic mucosa, including behind colonic folds, and aim to reduce pain associated with the procedure. In addition, a shift in surgical paradigm towards minimally invasive endoluminal surgery has meant innovations in flexible platforms are being sought. There are a number of limitations of the basic endoscope. These include a lack of stability and triangulation of instruments. Modifications to the flexible endoscope design form the basis of a number of newly developed and research platforms, some of which are discussed in this review.

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Determining scope position during colonoscopy without use of ionizing radiation or magnetic imaging: the enhanced mapping ability of the NeoGuide Endoscopy System

Abstract: Three-dimensional map images generated by the NeoGuide endoscopy system provide accurate information regarding tip position, insertion tube position, and colonic looping.

Cited by 18 publications

References 24 publications

Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation

Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation

Technical Advances in Getting to the Cecum

The endoscopy evolution: ‘the superscope era’

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