Evaluation of robotically controlled advanced endoscopic instruments

Reilink, Rob; Kappers, Astrid M. L.; Misra, Sarthak

doi:10.1002/rcs.1496

Cited by 9 publications

(6 citation statements)

References 9 publications

(11 reference statements)

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“…As a second example, robotic transapical transcatheter aortic valve implementation (TA-TAVI) devices are extremely helpful for the diagnosis and treatment of heart diseases [16,17]. In recent advancements, one of the challenging issues for TAVI is the localization and tracking problem of the valve during the cardiovascular procedure.…”

Section: Introductionmentioning

confidence: 99%

Localization and Tracking of Implantable Biomedical Sensors

Umay

Fi̇dan

Barshan

2017

Sensors

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Implantable sensor systems are effective tools for biomedical diagnosis, visualization and treatment of various health conditions, attracting the interest of researchers, as well as healthcare practitioners. These systems efficiently and conveniently provide essential data of the body part being diagnosed, such as gastrointestinal (temperature, pH, pressure) parameter values, blood glucose and pressure levels and electrocardiogram data. Such data are first transmitted from the implantable sensor units to an external receiver node or network and then to a central monitoring and control (computer) unit for analysis, diagnosis and/or treatment. Implantable sensor units are typically in the form of mobile microrobotic capsules or implanted stationary (body-fixed) units. In particular, capsule-based systems have attracted significant research interest recently, with a variety of applications, including endoscopy, microsurgery, drug delivery and biopsy. In such implantable sensor systems, one of the most challenging problems is the accurate localization and tracking of the microrobotic sensor unit (e.g., robotic capsule) inside the human body. This article presents a literature review of the existing localization and tracking techniques for robotic implantable sensor systems with their merits and limitations and possible solutions of the proposed localization methods. The article also provides a brief discussion on the connection and cooperation of such techniques with wearable biomedical sensor systems.

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Section: Introductionmentioning

confidence: 99%

Localization and Tracking of Implantable Biomedical Sensors

Umay

Fi̇dan

Barshan

2017

Sensors

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“…Previous studies showed that remote actuation platforms could not yet compete with the efficiency of conventional endoscope control [ 21 – 23 ]. The setup of these platforms prevented adequate scope manipulation [ 23 – 25 ]. 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: 99%

Feasibility of joystick guided colonoscopy

2015

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The flexible endoscope is increasingly used to perform minimal invasive interventions. A novel add-on platform allows single-person control of both endoscope and instrument at the site of intervention. The setup changes the current routine of handling the endoscope. This study aims to determine if the platform allows effective and efficient manipulation to position the endoscope at potential intervention sites throughout the bowel. Five experts in flexible endoscopy first performed three colonoscopies on a computer simulator using the conventional angulation wheels. Next they trained with the joystick interface to achieve their personal level of intubation time with low pain score. 14 PhD students (novices) without hands-on experience performed the same colonoscopy case using either the conventional angulation wheels or joystick interface. Both novice groups trained to gain the average expert level. The cecal intubation time, pain score and visualization performance (% of bowel wall) were recorded. All experts reached their personal intubation time in 6 ± 6 sessions. Three experts completed their learning curve with low pain score in 8 ± 6 sessions. The novices required 11 ± 6 sessions using conventional angulation wheels, and 12 ± 6 sessions using the joystick interface. There was no difference in the visualization performance between the novice and between the expert groups. This study shows that the add-on platform enables endoscope manipulation required to perform colonoscopy. Experts need only a relatively short training period. Novices are as effective and as efficient in endoscope manipulation when comparing the add-on platform with conventional endoscope control.

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“…These endoscopic devices are also not controlled intuitively and have multiple degrees of freedom which make control harder. 26 The Anubis endoscope system is one of these advanced endoscopes, and it has three degrees of freedom, insertion, rotation, and bending. The instrument is designed to be controlled manually by using a control handle that can move forwards and backwards and it can be rotated to maneuver the instrument.…”

Section: Robotically Controlled Advanced Colonoscopiesmentioning

confidence: 99%

“…The robotic controls were then tested versus the manual control of these devices by using a tapping experiment in which the operator would locate and tap on a fixed target. 26 The robotic method consists of the endoscopic device being controlled by an Omega 6 haptic device. Insertion is controlled by moving the pen forwards and backwards and the orientation of the pen controls the rotation and bending of the instrument.…”

Section: Robotically Controlled Advanced Colonoscopiesmentioning

confidence: 99%

“…The robotic control using the haptic device had a quicker completion time and it was more intuitively designed for control. 26 Another study was done which compared the traditional control methods versus the use of haptics steering, and the use of the haptics steering interface but without actually using haptics. This second comparison was done to see if the steering interface alone accounted for the quicker completion time.…”

Section: Robotically Controlled Advanced Colonoscopiesmentioning

confidence: 99%

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Robotics in Colonoscopy

Cater

Vyas

2014

Amer J Robot Surg

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Colorectal cancer is the second leading cause of mortality in men and women in the United States. While there is a definite advantage regarding the use of colonoscopies in screening, there is still a lack of widespread acceptance of colonoscopy use in the general public. This is evident by the fact that up to 75% of patients diagnosed with colorectal cancer present with locally advanced disease. In order to make colonoscopy and in turn colorectal cancer screening a patient friendly and a comfortable test some changes in tool are necessary. The conventional colonoscope has not changed much since its development. There are several new advances in colorectal screening practices. One of the most promising new advances is the advent of robotic endoscopic techniques.

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Evaluation of robotically controlled advanced endoscopic instruments

Abstract: This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.

Cited by 9 publications

References 9 publications

Localization and Tracking of Implantable Biomedical Sensors

Localization and Tracking of Implantable Biomedical Sensors

Feasibility of joystick guided colonoscopy

Robotics in Colonoscopy

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