Preliminary design and evaluation of a generic surgical scope adapter

Khorasani, Mohammad; Abdurahiman, Nihal; Padhan, Jhasketan; Zhao, Haoran; Al‐Ansari, Abdulla; Becker, Aaron T.; Navkar, Nikhil V.

doi:10.1002/rcs.2475

Cited by 6 publications

(6 citation statements)

References 57 publications

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“…The current study also enhances the control mechanism in comparison to our prior works [23] , [24] . The prior works uses one-to-one mapping between a user input and a scope movement (shaft rotation, lens angulation, or software rotation).…”

Section: Discussionmentioning

confidence: 60%

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An Actuated Variable-View Rigid Scope System to Assist Visualization in Diagnostic Procedures

Basha,

Khorasani,

Abdurahiman

et al. 2024

IEEE J. Transl. Eng. Health Med.

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Objective: Variable-view rigid scopes offer advantages compared to traditional angled laparoscopes for examining a diagnostic site. However, altering the scope’s view requires a high level of dexterity and understanding of spatial orientation. This requires an intuitive mechanism to allow an operator to easily understand the anatomical surroundings and smoothly adjust the scope’s focus during diagnosis. To address this challenge, the objective of this work is to develop a mechanized arm that assists in visualization using variable-view rigid scopes during diagnostic procedures.Methods: A system with a mechanized arm to maneuver a variable-view rigid scope (EndoCAMeleon - Karl Storz) was developed. A user study was conducted to assess the ability of the proposed mechanized arm for diagnosis in a preclinical navigation task and a simulated cystoscopy procedure.Results: The mechanized arm performed significantly better than direct maneuvering of the rigid scope. In the preclinical navigation task, it reduced the percentage of time the scope’s focus shifted outside a predefined track. Similarly, for simulated cystoscopy procedure, it reduced the duration and the perceived workload.Conclusion: The proposed mechanized arm enhances the operator’s ability to accurately maneuver a variable-view rigid scope and reduces the effort in performing diagnostic procedures.Clinical and Translational Impact Statement: The preclinical research introduces a mechanized arm to intuitively maneuver a variable-view rigid scope during diagnostic procedures, while minimizing the mental and physical workload to the operator.

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Section: Discussionmentioning

confidence: 60%

“…The scope adapter consists of two concentric cylinders, where the inner cylinder rotates with respect to the outer cylinder. The design details are presented in our previous work [23] , [24] . The inner cylinder consists of grooves in which a support plate can be inserted and locked into position using locking pins (Panel A1 of Figure 5a ).…”

Section: Methodsmentioning

confidence: 99%

An Actuated Variable-View Rigid Scope System to Assist Visualization in Diagnostic Procedures

Basha,

Khorasani,

Abdurahiman

et al. 2024

IEEE J. Transl. Eng. Health Med.

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“…This work demonstrates the advantage of extending the usage of scope adapter (originally built for a rigid zero, angulated [ 9 , 11 ], and articulated scopes [ 10 , 14 ]) for flexible endoscopes. The generic design enables utilizing the proposed system across different endoscopic procedures (such as bronchoscopy, colonoscopy, or duodenoscopy).…”

Section: Discussionmentioning

confidence: 99%

“…A scope adapter, developed previously for rigid scopes [ 9 ], was then used to host the support plate. The scope adapter consists of two concentric cylinders, where the inner cylinder rotates inside the outer cylinder (Fig.…”

Section: Methodsmentioning

confidence: 99%

“…In our prior work, we developed a generic surgical scope adapter [ 9 – 11 ], capable of hosting different types of rigid laparoscopes, including zero-degree, angulated, and articulated scopes, as well as camera heads. Moreover, it can be connected to any six degree-of-freedom robotic manipulator as an actuation system to maneuver rigid scopes during laparoscopic procedures (Fig.…”

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confidence: 99%

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A generic scope actuation system for flexible endoscopes

Basha,

Khorasani,

Abdurahiman

et al. 2023

Surg Endosc

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Background A scope actuation system assists a surgeon in steering a scope for navigating an operative field during an interventional or diagnostic procedure. Each system is tailored for a specific surgical procedure. The development of a generic scope actuation system could assist various laparoscopic and endoscopic procedures. This has the potential to reduce the deployment and maintenance costs for a hospital, making it more accessible for clinical usage. Methods A modular actuation system (for maneuvering rigid laparoscopes) was adapted to enable incorporation of flexible endoscopes. The design simplifies the installation and disassembly processes. User studies were conducted to assess the ability of the system to focus onto a diagnostic area, and to navigate during a simulated esophagogastroduodenoscopy procedure. During the studies, the endoscope was maneuvered with (robotic mode) and without (manual mode) the actuation system to navigate the endoscope’s focus on a predefined track. Results Results show that the robotic mode performed better than the manual mode on all the measured performance parameters including (a) the total duration to traverse a track, (b) the percentage of time spent outside a track while traversing, and (c) the number of times the scope focus shifts outside the track. Additionally, robotic mode also reduced the perceived workload based on the NASA-TLX scale. Conclusions The proposed scope actuation system enhances the maneuverability of flexible endoscopes. It also lays the groundwork for future development of modular and generic scope assistant systems that can be used in both laparoscopic and endoscopic procedures.

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Scope actuation system for articulated laparoscopes

et al. 2023

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Background An articulated laparoscope comprises a rigid shaft with an articulated distal end to change the viewing direction. The articulation provides improved navigation of the operating field in confined spaces. Furthermore, incorporation of an actuation system tends to enhance the control of an articulated laparoscope. Methods A preliminary prototype of a scope actuation system to maneuver an off-the-shelf articulated laparoscope (EndoCAMaleon by Karl Storz, Germany) was developed. A user study was conducted to evaluate this prototype for the surgical paradigm of video-assisted thoracic surgery. In the study, the subjects maneuvered an articulated scope under two modes of operation: (a) actuated mode where an operating surgeon maneuvers the scope using the developed prototype and (b) manual mode where a surgical assistant directly maneuvers the scope. The actuated mode was further assessed for multiple configurations based on the orientation of the articulated scope at the incision. Results The data show the actuated mode scored better than the manual mode on all the measured performance parameters including (a) total duration to visualize a marked region, (a) duration for which scope focus shifts outside a predefined visualization region, and (c) number of times for which scope focus shifts outside a predefined visualization region. Among the different configurations tested using the actuated mode, no significant difference was observed. Conclusions The proposed articulated scope actuation system facilitates better navigation of an operative field as compared to a human assistant. Secondly, irrespective of the orientation in which an articulated scope’s shaft is inserted through an incision, the proposed actuation system can navigate and visualize the operative field.

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Preliminary design and evaluation of a generic surgical scope adapter

Cited by 6 publications

References 57 publications

An Actuated Variable-View Rigid Scope System to Assist Visualization in Diagnostic Procedures

An Actuated Variable-View Rigid Scope System to Assist Visualization in Diagnostic Procedures

A generic scope actuation system for flexible endoscopes

Scope actuation system for articulated laparoscopes

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