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Related Experiment Video

Updated: Sep 25, 2025

Bringing the Visible Universe into Focus with Robo-AO
10:35

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Robotic Endoscope Control Via Autonomous Instrument Tracking.

Caspar Gruijthuijsen1, Luis C Garcia-Peraza-Herrera2,3, Gianni Borghesan1,4

  • 1Department of Mechanical Engineering, KU Leuven, Leuven, Belgium.

Frontiers in Robotics and AI
|April 28, 2022
PubMed
Summary

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Catheter monitoring in intelligent endovascular navigation systems: interactive simulations and mixed reality for enhanced navigational awareness.

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Markerless 3D ultrasound reconstruction for augmented reality assisted minimally invasive spine surgery.

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Robot-assisted pedicle screw placement by using optical navigation.

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Markerless Augmented Reality Guidance System for Maxillofacial Surgery: An Omnidirectional Tracking Method.

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IN-HUMAN FEASIBILITY AND SAFETY OF SUBRETINAL DRUG INJECTION THROUGH ATTACHED RETINA USING A ROBOTIC COMANIPULATION SYSTEM.

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A large, paired dataset of robotic and handheld lumbar spine ultrasound with ground-truth CT benchmarking.

Scientific data·2025
This summary is machine-generated.

This study introduces a novel robotic endoscope holder system for minimally invasive surgery. The system enables synergistic interaction, allowing surgeons to control instruments while the robot autonomously manages the endoscope for improved efficiency and stability.

Area of Science:

  • Robotics in Medicine
  • Minimally Invasive Surgery
  • Surgical Workflow Optimization

Background:

  • Keyhole surgery often requires a dedicated camera assistant, increasing staff burden and potentially impacting image stability and task efficiency.
  • Existing robotic endoscope holders can increase surgeon cognitive load due to unnatural handling, hindering clinical adoption.

Purpose of the Study:

  • To develop a novel robotic endoscope holder system enabling synergistic interaction between surgeons and robots for minimally invasive procedures.
  • To improve surgical workflow by allowing autonomous endoscope positioning based on semantically rich instructions.

Main Methods:

  • Developed a novel tooltip localization method using surgical tool segmentation.
  • Implemented a novel visual servoing approach for smooth and precise endoscope camera motion.
Keywords:
endoscope controlendoscope holdersendoscope robotsinstrument trackingminimally invasive surgeryvisual servoing

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  • Validated the system using a clinically relevant laparoscopic exercise validated by the European Academy of Gynaecological Surgery.

    • Main Results:

    • The proposed system successfully enabled autonomous endoscope positioning during a bimanual coordination and navigation task.
    • User study demonstrated the potential for seamless integration into surgical workflows.
    • The novel vision pipeline and visual servoing approach ensured smooth and appropriate camera motion.

    Conclusions:

    • The developed system represents a promising advancement towards the clinical adoption of robotic endoscope holders.
    • Synergistic human-robot interaction in minimally invasive surgery can enhance efficiency and reduce surgeon workload.
    • This approach paves the way for more intuitive and effective robotic assistance in the operating room.