Image-Based Navigation for a Robotized Flexible Endoscope

Stap, Nanda van der; Slump, Cornelis H.; Broeders, I. A. M. J.; Heijden, Ferdinand van der

doi:10.1007/978-3-319-13410-9_8

Cited by 12 publications

(9 citation statements)

References 14 publications

(15 reference statements)

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“…To compensate for the lack of tactile feedback from the angulation wheels, a feedback circle was shown on screen to indicate to the participant in which direction and to what extent the tip of the colonoscope was bent [12]. ALC consisted of a software algorithm that identifies the darkest pixels in the image [13]. The darkest region in the image usually corresponds to the middle of the colonic lumen, which is the target area for the colonoscope.…”

Section: Robotic Steering With Automated Lumen Centralizationmentioning

confidence: 99%

Colonoscopy with robotic steering and automated lumen centralization: a feasibility study in a colon model

et al. 2015

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Section: Robotic Steering With Automated Lumen Centralizationmentioning

confidence: 99%

Colonoscopy with robotic steering and automated lumen centralization: a feasibility study in a colon model

et al. 2015

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“…The design and preliminary testing of the navigation algorithm was previously described in depth by Van der Stap et al (2014) [85]. In short, the automatic control system is designed based on the following main requirements; real-time functionality, expert's option to overrule the control instantaneously at any point; easy to learn and easy to implement in clinical practice.…”

Section: Methods and Materials 721 Automatic Lumen Centralization -Alcmentioning

confidence: 99%

“…We iterate once to increase the bias caused by the Gaussian convolution, meaning larger shifts of the target between frames still result in accurate target estimation. Performance of the algorithm was evaluated in a previous study using human colonoscopy images [85]. …”

Section: Methods and Materials 721 Automatic Lumen Centralization -Alcmentioning

confidence: 99%

“…Experts were significantly faster in many segments using the conventional method, but not in the descending colon and the splenic flexure. Novices found with 88% (80-95) not significantly more polyps with the robotic method compared to using the conventional system of 79% (75)(76)(77)(78)(79)(80)(81)(82)(83)(84)(85)(86)(87)(88)(89)(90)(91)(92). Experts found significantly more polyps using the conventional method with a detection rate of 81%…”

Section: Clinical Feasibilitymentioning

confidence: 95%

“…Van der Stap et al [85] developed and evaluated a new algorithm for colonoscope steering based on dark region centralization. This algorithm is implemented in an assisting fashion and predicts whether images will contain useful information.…”

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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