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 journalArticle

1 Citation (Scopus)

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 languageEnglish (US)
Article number6907650
Pages (from-to)5380-5385
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Jan 1 2014

Fingerprint

Endoscopy
Robotics
Kinematics
Manual control
Control nonlinearities
Cables
Inspection
Control systems
Controllers
Costs

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Robotic assistance for manipulating a flexible endoscope. / Zhang, L. A.; Khare, R.; Wilson, E.; Wang, S. X.; Peters, Craig A; Cleary, K.

In: Proceedings - IEEE International Conference on Robotics and Automation, 01.01.2014, p. 5380-5385.

Research output: Contribution to journalArticle

Zhang, L. A. ; Khare, R. ; Wilson, E. ; Wang, S. X. ; Peters, Craig A ; Cleary, K. / Robotic assistance for manipulating a flexible endoscope. In: Proceedings - IEEE International Conference on Robotics and Automation. 2014 ; pp. 5380-5385.
@article{ee7c27b3c0ed47ada292c6bc5de24fe9,
title = "Robotic assistance for manipulating a flexible endoscope",
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.",
author = "Zhang, {L. A.} and R. Khare and E. Wilson and Wang, {S. X.} and Peters, {Craig A} and K. Cleary",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/ICRA.2014.6907650",
language = "English (US)",
pages = "5380--5385",
journal = "Proceedings - IEEE International Conference on Robotics and Automation",
issn = "1050-4729",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Robotic assistance for manipulating a flexible endoscope

AU - Zhang, L. A.

AU - Khare, R.

AU - Wilson, E.

AU - Wang, S. X.

AU - Peters, Craig A

AU - Cleary, K.

PY - 2014/1/1

Y1 - 2014/1/1

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=84929193551&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84929193551&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2014.6907650

DO - 10.1109/ICRA.2014.6907650

M3 - Article

AN - SCOPUS:84929193551

SP - 5380

EP - 5385

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

M1 - 6907650

ER -