Robotic steering of flexible endoscopes

Esther Rozeboom

Research output: ThesisPhD Thesis - Research UT, graduation UTAcademic

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Abstract

Flexible 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. The results showed non-inferiority of the platform in simulated diagnostic procedures. A patient study showed that the add-on platform allows a safe and feasible introduction of an endoscope through the bowel. The robotic platform proposed in this thesis is based on pairing with conventional endoscopes. Consequently, performance results of the add-on platform also depend on the tip bending response of the used endoscopes. An evaluation of the tip bending response of clinically used endoscopes suggests that the vast majority of endoscopes are not optimally tuned to reach maximal bending angles and adequate tip response. Innovations that close the control loop and hysteresis control methods are expected to further improve precise and efficient endoscope tip steering.
Original languageEnglish
Awarding Institution
  • University of Twente
Supervisors/Advisors
  • Broeders, Ivo Adriaan Maria Johannes, Supervisor
  • Fockens, P., Supervisor
Award date28 Oct 2016
Place of PublicationEnschede
Publisher
Print ISBNs978-90-365-4129-9
DOIs
Publication statusPublished - 28 Oct 2016

Fingerprint

Endoscopy
Robotics
Mechatronics
Ergonomics
User interfaces
Hysteresis
Innovation
Inspection

Keywords

  • METIS-318107
  • IR-101562

Cite this

Rozeboom, E. (2016). Robotic steering of flexible endoscopes. Enschede: Universiteit Twente. https://doi.org/10.3990/1.9789036541299
Rozeboom, Esther. / Robotic steering of flexible endoscopes. Enschede : Universiteit Twente, 2016. 117 p.
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Rozeboom, E 2016, 'Robotic steering of flexible endoscopes', University of Twente, Enschede. https://doi.org/10.3990/1.9789036541299

Robotic steering of flexible endoscopes. / Rozeboom, Esther.

Enschede : Universiteit Twente, 2016. 117 p.

Research output: ThesisPhD Thesis - Research UT, graduation UTAcademic

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Rozeboom E. Robotic steering of flexible endoscopes. Enschede: Universiteit Twente, 2016. 117 p. https://doi.org/10.3990/1.9789036541299