Intuitive user interfaces increase efficiency in endoscope tip control

Rozeboom, Esther; Ruiter, Jeroen; Franken, Michel; Broeders, I. A. M. J.

doi:10.1007/s00464-014-3510-1

Cited by 24 publications

(26 citation statements)

References 17 publications

(24 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…FE are complex, expensive, and non-intuitive medical devices that are cable actuated [3]. Most of the commercially available FEs are non-disposable and require reprocessing to avoid cross-contamination [4].…”

Section: Introductionmentioning

confidence: 99%

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy

Garbin

Wang²,

Chandler³

et al. 2019

IEEE Trans. Biomed. Eng.

View full text Add to dashboard Cite

This paper introduces a methodology to design intuitive, low-cost, and portable devices for visual inspection of the upper gastrointestinal tract. Methods: The proposed approach mechanically couples a multi-backbone continuum structure, as the user interface, and a parallel bellows actuator, as the endoscopic tip. Analytical modeling techniques derived from continuum robotics were adopted to describe the endoscopic tip motion from user input, accounting for variations in component size and pneumatic compressibility. The modeling framework was used to improve intuitiveness of user-to-task mapping. This was assessed against a 1:1 target, while ease-of-use was validated using landmark identification tasks performed in a stomach simulator by one expert and ten non-expert users; benchmarked against conventional flexible endoscopy. Pre-clinical validation consisted of comparative trials in in-vivo porcine and human cadaver models. Results: Target mapping was achieved with an average error of 5 • in bending angle. Simulated endoscopies were performed by an expert user successfully, within a time comparable to conventional endoscopy (<1 minute difference). Non-experts using the proposed device achieved visualization of the stomach in a shorter time (9s faster on average) than with a conventional endoscope. The estimated cost is <10 USD and <30 USD for disposable and reusable parts, respectively. Significance and Conclusions: Flexible endoscopes are complex and expensive devices, actuated via non-intuitive cable-driven mechanisms. They frequently break, requiring costly repair, and necessitate a dedicated reprocessing facility to prevent cross contamination. The proposed solution is portable, inexpensive, and easy to use, thus lending itself to disposable use by personnel without formal training in flexible endoscopy.

show abstract

Section: Introductionmentioning

confidence: 99%

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy

Garbin

Wang²,

Chandler³

et al. 2019

IEEE Trans. Biomed. Eng.

View full text Add to dashboard Cite

show abstract

“…Preliminary studies by Ruiter et al [1] and Rozeboom et al [67] showed that bimanual joystick interfaces allow endoscopic tip positioning with reduced workload and reduced tip trajectory. A single-handed controller is expected to further reduce the experienced workload, since it creates the illusion that the endoscope is an elongation of the right arm.…”

Section: Discussionmentioning

confidence: 99%

“…The system consists of a remote controller with which the user controls a motor drive unit and valves for air inflation, water injection and suction, Figure 6.1 [67]. Two motors in the drive unit manipulate bending cables that run through a flexible transmission to a mobile drive unit.…”

Section: Methodsmentioning

confidence: 99%

“…Robotics have already proven to reduce the mental and physical workload of bimanual manipulation tasks in laparoscopic and endoscopic procedures [1,19,20,67]. …”

Section: Introductionmentioning

confidence: 99%

“…Previous chapters showed that the add-on platform with joystick interface increases efficiency of endoscope tip positioning compared to the conventional angulation wheels [1,67]. Additionally, single-person control of an endoscope and its instrument increases efficiency and satisfaction in a pick-and-place task [34].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robotic steering of flexible endoscopes

Rozeboom¹

View full text Add to dashboard Cite

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 ...

show abstract

User interfaces for actuated scope maneuvering in surgical systems: a scoping review

et al. 2023

View full text Add to dashboard Cite

Background A variety of human computer interfaces are used by robotic surgical systems to control and actuate camera scopes during minimally invasive surgery. The purpose of this review is to examine the different user interfaces used in both commercial systems and research prototypes. Methods A comprehensive scoping review of scientific literature was conducted using PubMed and IEEE Xplore databases to identify user interfaces used in commercial products and research prototypes of robotic surgical systems and robotic scope holders. Papers related to actuated scopes with human–computer interfaces were included. Several aspects of user interfaces for scope manipulation in commercial and research systems were reviewed. Results Scope assistance was classified into robotic surgical systems (for multiple port, single port, and natural orifice) and robotic scope holders (for rigid, articulated, and flexible endoscopes). Benefits and drawbacks of control by different user interfaces such as foot, hand, voice, head, eye, and tool tracking were outlined. In the review, it was observed that hand control, with its familiarity and intuitiveness, is the most used interface in commercially available systems. Control by foot, head tracking, and tool tracking are increasingly used to address limitations, such as interruptions to surgical workflow, caused by using a hand interface. Conclusion Integrating a combination of different user interfaces for scope manipulation may provide maximum benefit for the surgeons. However, smooth transition between interfaces might pose a challenge while combining controls.

show abstract

Intuitive user interfaces increase efficiency in endoscope tip control

Abstract: This work shows that intuitive user interfaces can improve the efficiency of endoscope tip steering.

Cited by 24 publications

References 17 publications

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy

Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy

Robotic steering of flexible endoscopes

User interfaces for actuated scope maneuvering in surgical systems: a scoping review

Contact Info

Product

Resources

About