Evaluation of robotically controlled advanced endoscopic instruments

Rob Reilink, Astrid M.L. Kappers, Stefano Stramigioli, Sarthak Misra

    Research output: Contribution to journalArticleAcademicpeer-review

    4 Citations (Scopus)

    Abstract

    Background Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate. Methods In this article, we present a robotic system that allows the physi- cian to control an instrument in an intuitive way, using a haptic device. Perfor- mance with the robotic and conventional control methods were compared in a human subjects experiment. Subjects used both methods to tap a series of tar- gets. They performed four trials while looking at the endoscopic monitor, and two trials while looking at the instrument directly. Results Subjects were significantly faster using the robotic method, 54 s vs 164 s. Their performance in the second trial was significantly improved with respect to the first trial. Conclusions This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.
    Original languageUndefined
    Pages (from-to)240-246
    Number of pages7
    JournalInternational journal of medical robotics and computer assisted surgery
    Volume9
    Issue number2
    DOIs
    Publication statusPublished - Jun 2013

    Keywords

    • EWI-23319
    • Minimally invasive surgery
    • IR-85842
    • Medical robotics
    • METIS-296417
    • Flexible endoscopy

    Cite this

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    title = "Evaluation of robotically controlled advanced endoscopic instruments",
    abstract = "Background Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate. Methods In this article, we present a robotic system that allows the physi- cian to control an instrument in an intuitive way, using a haptic device. Perfor- mance with the robotic and conventional control methods were compared in a human subjects experiment. Subjects used both methods to tap a series of tar- gets. They performed four trials while looking at the endoscopic monitor, and two trials while looking at the instrument directly. Results Subjects were significantly faster using the robotic method, 54 s vs 164 s. Their performance in the second trial was significantly improved with respect to the first trial. Conclusions This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.",
    keywords = "EWI-23319, Minimally invasive surgery, IR-85842, Medical robotics, METIS-296417, Flexible endoscopy",
    author = "Rob Reilink and Kappers, {Astrid M.L.} and Stefano Stramigioli and Sarthak Misra",
    note = "eemcs-eprint-23319",
    year = "2013",
    month = "6",
    doi = "10.1002/rcs.1496",
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    volume = "9",
    pages = "240--246",
    journal = "International Journal of Medical Robotics and Computer Assisted Surgery",
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    Evaluation of robotically controlled advanced endoscopic instruments. / Reilink, Rob; Kappers, Astrid M.L.; Stramigioli, Stefano; Misra, Sarthak.

    In: International journal of medical robotics and computer assisted surgery, Vol. 9, No. 2, 06.2013, p. 240-246.

    Research output: Contribution to journalArticleAcademicpeer-review

    TY - JOUR

    T1 - Evaluation of robotically controlled advanced endoscopic instruments

    AU - Reilink, Rob

    AU - Kappers, Astrid M.L.

    AU - Stramigioli, Stefano

    AU - Misra, Sarthak

    N1 - eemcs-eprint-23319

    PY - 2013/6

    Y1 - 2013/6

    N2 - Background Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate. Methods In this article, we present a robotic system that allows the physi- cian to control an instrument in an intuitive way, using a haptic device. Perfor- mance with the robotic and conventional control methods were compared in a human subjects experiment. Subjects used both methods to tap a series of tar- gets. They performed four trials while looking at the endoscopic monitor, and two trials while looking at the instrument directly. Results Subjects were significantly faster using the robotic method, 54 s vs 164 s. Their performance in the second trial was significantly improved with respect to the first trial. Conclusions This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.

    AB - Background Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate. Methods In this article, we present a robotic system that allows the physi- cian to control an instrument in an intuitive way, using a haptic device. Perfor- mance with the robotic and conventional control methods were compared in a human subjects experiment. Subjects used both methods to tap a series of tar- gets. They performed four trials while looking at the endoscopic monitor, and two trials while looking at the instrument directly. Results Subjects were significantly faster using the robotic method, 54 s vs 164 s. Their performance in the second trial was significantly improved with respect to the first trial. Conclusions This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.

    KW - EWI-23319

    KW - Minimally invasive surgery

    KW - IR-85842

    KW - Medical robotics

    KW - METIS-296417

    KW - Flexible endoscopy

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    DO - 10.1002/rcs.1496

    M3 - Article

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    SP - 240

    EP - 246

    JO - International Journal of Medical Robotics and Computer Assisted Surgery

    JF - International Journal of Medical Robotics and Computer Assisted Surgery

    SN - 1478-5951

    IS - 2

    ER -