Development of an integrated haptic system for simulating upper gastrointestinal endoscopy

Chakravarthy, Shanthanu; Balakuntala, Mythra V.; Rao, Ashwin M.; Thakur, Ravi Kumar; Ananthasuresh, G. K.

doi:10.1016/j.mechatronics.2018.10.006

Cited by 10 publications

(6 citation statements)

References 20 publications

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“…CMs can also be used to passively sense force and respond in surgical situations. An instance of this was discussed in the context of endoscopy simulation [140], which could also be used in virtual surgical trials. In this work, a CM was designed to convert radial force experienced by the inner rim of a ring into circumferential motion of the ring that can be measured using an encoder.…”

Section: Sensingmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) manufacturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed.

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Section: Sensingmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

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“…Regarding virtual simulators, the research mainly focuses on improving the realism of the systems and creating low-cost portable platforms. Trade-offs need to be found between realistic force feedback, organ and endoscope deformation, visual rendering, and computational cost [ 86 , 87 , 88 , 89 , 90 , 91 ]. A promising example of this kind of simulators is the one developed by the Australian Commonwealth Scientific and Industrial Research Organisation (CSIRO) for colonoscopy.…”

Section: Gi Endoscopy Simulators In Researchmentioning

confidence: 99%

Training Simulators for Gastrointestinal Endoscopy: Current and Future Perspectives

Finocchiaro

Valdivia

Hernansanz

et al. 2021

Cancers

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Gastrointestinal (GI) endoscopy is the gold standard in the detection and treatment of early and advanced GI cancers. However, conventional endoscopic techniques are technically demanding and require visual-spatial skills and significant hands-on experience. GI endoscopy simulators represent a valid solution to allow doctors to practice in a pre-clinical scenario. From the first endoscopy mannequin, developed in 1969, several simulation platforms have been developed, ranging from purely mechanical systems to more complex mechatronic devices and animal-based models. Considering the recent advancement of technologies (e.g., artificial intelligence, augmented reality, robotics), simulation platforms can now reach high levels of realism, representing a valid and smart alternative to standard trainee/mentor learning programs. This is particularly true nowadays, when the current demographic trend and the most recent pandemic demand, more than ever, the ability to cope with many patients. This review offers a broad view of the technology available for GI endoscopy training, including platforms currently in the market and the relevant advancements in this research and application field. Additionally, new training needs and new emerging technologies are discussed to understand where medical education is heading.

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“…Physicians use endoscopy techniques in different parts of the body such as esophagus, stomach, and colon to diagnose gastrointestinal bleeding, inflammatory diseases, and polyps [2]. Endoscopy is performed with a flexible tube that has a LED light source and camera connected to it [3]. On a monitor, the doctor has access to images of the gastrointestinal system.…”

Section: Introductionmentioning

confidence: 99%

Endoscopic Image Enhancement: Wavelet Transform and Guided Filter Decomposition-Based Fusion Approach

Moghtaderi,

Yaghoobian,

Wahid

et al. 2024

J. Imaging

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Endoscopies are helpful for examining internal organs, including the gastrointestinal tract. The endoscope device consists of a flexible tube to which a camera and light source are attached. The diagnostic process heavily depends on the quality of the endoscopic images. That is why the visual quality of endoscopic images has a significant effect on patient care, medical decision-making, and the efficiency of endoscopic treatments. In this study, we propose an endoscopic image enhancement technique based on image fusion. Our method aims to improve the visual quality of endoscopic images by first generating multiple sub images from the single input image which are complementary to one another in terms of local and global contrast. Then, each sub layer is subjected to a novel wavelet transform and guided filter-based decomposition technique. To generate the final improved image, appropriate fusion rules are utilized at the end. A set of upper gastrointestinal tract endoscopic images were put to the test in studies to confirm the efficacy of our strategy. Both qualitative and quantitative analyses show that the proposed framework performs better than some of the state-of-the-art algorithms.

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Development of an integrated haptic system for simulating upper gastrointestinal endoscopy

Cited by 10 publications

References 20 publications

Surgical Applications of Compliant Mechanisms: A Review

Surgical Applications of Compliant Mechanisms: A Review

Training Simulators for Gastrointestinal Endoscopy: Current and Future Perspectives

Endoscopic Image Enhancement: Wavelet Transform and Guided Filter Decomposition-Based Fusion Approach

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