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In Vivo Quantification of Hip Arthrokinematics during Dynamic Weight-bearing Activities using Dual Fluoroscopy

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Published on: July 2, 2021

Simultaneous physiological motion cancellation and depth adaptation in flexible endoscopy.

Laurent Ott¹, Florent Nageotte, Philippe Zanne

¹Laboratoire des Sciences de l'Image, de l'Informatique et de Télédétection, Unité Mixte de Recherche (UMR), Centre National de Recherche Scientifique (CNRS), UDS 7005, Strasbourg University, Strasbourg, France. ott@lsiit.u-strasbg.fr

IEEE Transactions on Bio-Medical Engineering

|June 19, 2009

Summary

This study introduces an adaptive controller for robotized endoscopes to improve motion cancellation during procedures. The new method enhances surgeon control by accounting for manual depth changes, improving stability in gastroenterology and endoscopic surgery.

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Area of Science:

Medical Robotics
Gastroenterology
Surgical Technology

Background:

Flexible endoscopes are crucial for diagnostic and surgical procedures in gastroenterology and natural orifice transluminal endoscopic surgery.
Existing robotized endoscopes use physiological motion cancellation, but controllers are limited to small working areas, restricting surgeon maneuverability.
Current systems struggle to maintain stability during manual endoscope adjustments by the surgeon.

Purpose of the Study:

To develop advanced methods for enhancing physiological motion rejection in robotized endoscopes.
To enable surgeons to manually adjust endoscope depth during motion cancellation without compromising stability.
To improve the overall performance and usability of robotized endoscopes in complex procedures.

Main Methods:

An adaptive repetitive controller was designed and implemented for the robotized endoscope.
The controller incorporates depth estimation to adapt to surgeon-controlled manual depth changes.
The proposed approach focuses on improving motion rejection capabilities while allowing for surgeon interaction.

Main Results:

The adaptive repetitive controller demonstrated improved physiological motion rejection.
The system successfully accounted for manual depth changes performed by the surgeon.
Experimental results validated the effectiveness of the proposed method in enhancing endoscope stability and control.

Conclusions:

The developed adaptive repetitive controller significantly improves motion rejection in robotized endoscopes.
The method allows for stable manual depth adjustments by the surgeon, expanding the working area.
This advancement holds promise for improving surgical precision and outcomes in endoscopic procedures.