Robotic assistance for manipulating a flexible endoscope

L. A. Zhang; R. Khare; E. Wilson; S. X. Wang; Craig A Peters; K. Cleary

doi:10.1109/ICRA.2014.6907650

Robotic assistance for manipulating a flexible endoscope

L. A. Zhang, R. Khare, E. Wilson, S. X. Wang, Craig A Peters, K. Cleary

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

Flexible ureteroscopes are widely used for inspection, access, and manipulation in The ureter and kidney during uretero-renoscopy. However, existing endoscope designs rely on decades-old manual controls for Translation, rotation, and Tip flexion. The development of a more intuitive and user-friendly control system has The potential To greatly enhance The safety, efficacy, and efficiency of endoscopic procedures. Based on a first generation prototype, our lab designed an ergonomically enhanced flexible endoscopy robotic system. The system was designed To enable The surgeon To operate The endoscope Through a low cost game controller. The kinematics were analyzed considering The nonlinearity of flexion driving and cable slack. The kinematics control was combined with The direct control for The system. The initial evaluations show The feasibility of This approach.

Original language	English (US)
Article number	6907650
Pages (from-to)	5380-5385
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6907650
State	Published - Jan 1 2014

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6907650

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abstract = "Flexible ureteroscopes are widely used for inspection, access, and manipulation in The ureter and kidney during uretero-renoscopy. However, existing endoscope designs rely on decades-old manual controls for Translation, rotation, and Tip flexion. The development of a more intuitive and user-friendly control system has The potential To greatly enhance The safety, efficacy, and efficiency of endoscopic procedures. Based on a first generation prototype, our lab designed an ergonomically enhanced flexible endoscopy robotic system. The system was designed To enable The surgeon To operate The endoscope Through a low cost game controller. The kinematics were analyzed considering The nonlinearity of flexion driving and cable slack. The kinematics control was combined with The direct control for The system. The initial evaluations show The feasibility of This approach.",

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AU - Wilson, E.

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AU - Peters, Craig A

AU - Cleary, K.

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AB - Flexible ureteroscopes are widely used for inspection, access, and manipulation in The ureter and kidney during uretero-renoscopy. However, existing endoscope designs rely on decades-old manual controls for Translation, rotation, and Tip flexion. The development of a more intuitive and user-friendly control system has The potential To greatly enhance The safety, efficacy, and efficiency of endoscopic procedures. Based on a first generation prototype, our lab designed an ergonomically enhanced flexible endoscopy robotic system. The system was designed To enable The surgeon To operate The endoscope Through a low cost game controller. The kinematics were analyzed considering The nonlinearity of flexion driving and cable slack. The kinematics control was combined with The direct control for The system. The initial evaluations show The feasibility of This approach.

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Robotic assistance for manipulating a flexible endoscope

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