ABSTRACT
PURPOSE: Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. MATERIALS AND METHODS: The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. RESULTS: A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. CONCLUSION: This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.
Subject(s)
Humans , Algorithms , Colonoscopes , Colonoscopy/instrumentation , Equipment Design , Feedback , Robotics/methods , TorqueABSTRACT
Sinus is a cavity within a bone. Most are commonly found in the bones of the face. Specially, paranasal sinuses are air cavities in the cranial bones, especially those near the nose. They include the frontal sinuses, the ethmoid sinuses, the sphenoid sinuses and the maxillary sinuses. There are many types of sinus disease. They are classified as acute (quick onset) and chronic (over a long period of time). Besides, there are several other types of sinus diseases due to fungus and polyps. Sinus tumors also happen although it is relatively uncommon. Navigation software for general sinus surgery has been developed and are being used in the operation room. However, there are still many blind regions in the sinus area by using conventional straight type endoscope and devices. To cope with such a problem, flexible endoscope and devices are being developed along with advanced navigation algorithms. In this review, many research activities associated with computer-aided sinus surgery are discussed.
Subject(s)
Endoscopes , Ethmoid Sinus , Frontal Sinus , Fungi , Maxillary Sinus , Nose , Paranasal Sinuses , Polyps , Sphenoid SinusABSTRACT
Sinus is a cavity within a bone. Most are commonly found in the bones of the face. Specially, paranasal sinuses are air cavities in the cranial bones, especially those near the nose. They include the frontal sinuses, the ethmoid sinuses, the sphenoid sinuses and the maxillary sinuses. There are many types of sinus disease. They are classified as acute (quick onset) and chronic (over a long period of time). Besides, there are several other types of sinus diseases due to fungus and polyps. Sinus tumors also happen although it is relatively uncommon. Navigation software for general sinus surgery has been developed and are being used in the operation room. However, there are still many blind regions in the sinus area by using conventional straight type endoscope and devices. To cope with such a problem, flexible endoscope and devices are being developed along with advanced navigation algorithms. In this review, many research activities associated with computer-aided sinus surgery are discussed.
Subject(s)
Endoscopes , Ethmoid Sinus , Frontal Sinus , Fungi , Maxillary Sinus , Nose , Paranasal Sinuses , Polyps , Sphenoid SinusABSTRACT
The interventional procedure is a percutaneous treatment modality using various devices such as a guide-wire and a catheter under a minimal incision. It is usually done under a fluoroscopy (X-ray radiography) guidance, therefore the operator would be exposed to X-ray irradiation. Recently, a new procedure using a master-slave robotic system is proposed for the intervention procedure, especially in the era of vascular disease. Many state of art intervention robots are under development and this approach can drastically reduce radiation exposure by replacing human effort by a robotic system for high radiation exposure procedures. However, robotic intervention is still more expensive and needs more efficient end effector and easier human interface for a safer and faster procedure. This article provides a comprehensive summary of vascular intervention and necessity of the vascular intervention robot system.