The security of minimally invasive surgery with an autonomous flexible endoscope

Thiruvenkdam; Manish Kumar Goyal; Vineet Saxena

doi:10.31893/multiscience.2023ss0112

Keywords:

Abstract

The surgical approach, Minimally Invasive Surgery (MIS), tries to limit stress on the patient's body and the number of incisions used during treatment. A flexible tube with a camera and light source known as an endoscope, which enables surgeons to see the interior organs and tissues, is one of the main instruments used in MIS. By expanding the capabilities of conventional endoscopes, Autonomous Flexible Endoscopes (AFE) can potentially change medical information systems. These autonomous devices can perform duties autonomously within the patient's body because they are outfitted with cutting-edge technology, including Artificial Intelligence (AI), computer vision, and robotic systems. Robotic surgical automation is a subject that is gaining more and more popularity. Although it is still impossible to fully automate a system, task and conditional autonomy are quite feasible. Safety is a key issue in robotic surgery, in addition to the performance of job completion. In this article, we introduce AFEs that can assist in autonomously guiding minimally invasive surgical procedures. The Tendon-driven Continuum Technique (TCT) served as the foundation for its development, and it is connected with the da Vinci Training Set (DVTS). There are six Degrees of Freedom (DOF) in the recommended AFEs. The surgical tools are automatically tracked using visual servoing. The AFE’s mobility and space occupancy is minimized throughout the tracking process using an optimum control strategy, improving the safety of the robot system and any surrounding assistance. Both empirical and user research findings demonstrate that the suggested AFE has benefits over the current rigid endoscope in terms of safety and reduced space requirements without compromising comfort level.
References
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13. Runciman M, Darzi A, Mylonas GP (2019) Soft robotics in minimally invasive surgery. Soft robotics 6:423-443.
14. Shabir D, Abdurahiman N, Padhan J, Trinh M, Balakrishnan S, Kurer M, Ali O, Al‐Ansari A, Yaacoub E, Deng Z, Erbad A (2021) Towards development of a tele‐mentoring framework for minimally invasive surgeries. The International Journal of Medical Robotics and Computer Assisted Surgery 17:e2305.
15. Slawinski PR, Taddese AZ, Musto KB, Sarker S, Valdastri P, Obstein KL (2018) Autonomously controlled magnetic flexible endoscope for colon exploration. Gastroenterology 154:1577-1579.
16. Song C, Ma X, Xia X, Chiu PWY, Chong CCN, Li Z (2020) A robotic flexible endoscope with shared autonomy: a study of mockup cholecystectomy. Surgical endoscopy 34:2730-2741.
17. Su H, Mariani A, Ovur SE, Menciassi A, Ferrigno G, De Momi E (2021) Toward teaching by demonstration for robot-assisted minimally invasive surgery. IEEE Transactions on Automation Science and Engineering 18:484-494.
18. Su H, Yang C, Ferrigno G, De Momi E (2019) Improved human–robot collaborative control of redundant robot for teleoperated minimally invasive surgery. IEEE Robotics and Automation Letters 4:447-1453.
19. Vo CD, Jiang B, Azad TD, Crawford NR, Bydon A, Theodore N (2020) Robotic spine surgery: current state in minimally invasive surgery. Global Spine Journal 10:34S-40S.
20. Zhang X, Li W, Ng WY, Huang Y, Xian Y, Chiu PWY, Li Z (2021). An autonomous robotic flexible endoscope system with a DNA-inspired continuum mechanism. In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 12055-12060. IEEE.

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

How to cite

Thiruvenkdam, Goyal, M. K., & Saxena, V. (2023). The security of minimally invasive surgery with an autonomous flexible endoscope. Multidisciplinary Science Journal, 5, 2023ss01012. https://doi.org/10.31893/multiscience.2023ss0112

[1] Brahmbhatt P, Sabiston CM, Lopez C, Chang E, Goodman J, Jones J, McCready D, Randall I, Rotstein S, Santa Mina D (2020) Feasibility of prehabilitation prior to breast cancer surgery: a mixed-methods study. Frontiers in Oncology 10:571091.

[2] Ehrampoosh A, Shirinzadeh B, Pinskier J, Smith J, Moshinsky R, Zhong Y (2022) A force-feedback methodology for teleoperated suturing task in robotic-assisted minimally invasive surgery. Sensors 22:7829.

[3] Huang Y, Li J, Zhang X, Xie K, Li J, Liu Y, Ng CSH, Chiu PWY, Li Z (2022) a surgeon preference-guided autonomous instrument tracking method with a robotic flexible endoscope based on dvrk platform. IEEE Robotics and Automation Letters 7:2250-2257.

[4] Jin Y, Cheng K, Dou Q, Heng PA (2019) Incorporating temporal prior from motion flow for instrument segmentation in minimally invasive surgery video. In Medical Image Computing and Computer Assisted Intervention–MICCAI 2019: 22nd International Conference, Shenzhen, China, Proceedings, Part V 22, pp. 440-448. Springer International Publishing.

[5] Lu Y, Wei R, Li B, Chen W, Zhou J, Dou Q, Sun D, Liu YH (2023) Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning. arXiv preprint arXiv:2302.13219.

[6] Ma X, Song C, Chiu PW, Li Z (2019) Autonomous flexible endoscope for minimally invasive surgery with enhanced safety. IEEE Robotics and Automation Letters 4:2607-2613.

[7] Martin JW, Barducci L, Scaglioni B, Norton JC, Winters C, Subramanian V, Arezzo A, Obstein KL, Valdastri P (2022) Robotic autonomy for magnetic endoscope biopsy. IEEE Transactions on Medical Robotics and Bionics 4:599-607.

[8] Mo H, Li X, Ouyang B, Fang G, Jia Y (2022) Task Autonomy of a Flexible Endoscopic System for Laser-Assisted Surgery. Cyborg and Bionic Systems.

[9] Muscolo GG, Fiorini P (2023) Force-Torque Sensors for Minimally Invasive Surgery Robotic Tools: An Overview. IEEE Transactions on Medical Robotics and Bionics.

[10] Pittiglio G, loyd P, da Veiga T, Onaizah O, Pompili C, Chandler JH, Valdastri P (2022) Patient-specific magnetic catheters for atraumatic autonomous endoscopy. Soft Robotics 9:1120-1133.

[11] Qian L, Song C, Jiang Y, Luo Q, Ma X, Chiu PW, Li Z, Kazanzides P (2020) January. FlexiVision: Teleporting the surgeon’s eyes via robotic flexible endoscope and head-mounted display. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3281-3287. IEEE.

[12] Raucci, M.G., D'Amora, U., Ronca, A. and Ambrosio, L., 2020. Injectable functional biomaterials for minimally invasive surgery. Advanced healthcare materials 9:2000349.

[13] Runciman M, Darzi A, Mylonas GP (2019) Soft robotics in minimally invasive surgery. Soft robotics 6:423-443.

[14] Shabir D, Abdurahiman N, Padhan J, Trinh M, Balakrishnan S, Kurer M, Ali O, Al‐Ansari A, Yaacoub E, Deng Z, Erbad A (2021) Towards development of a tele‐mentoring framework for minimally invasive surgeries. The International Journal of Medical Robotics and Computer Assisted Surgery 17:e2305.

[15] Slawinski PR, Taddese AZ, Musto KB, Sarker S, Valdastri P, Obstein KL (2018) Autonomously controlled magnetic flexible endoscope for colon exploration. Gastroenterology 154:1577-1579.

[16] Song C, Ma X, Xia X, Chiu PWY, Chong CCN, Li Z (2020) A robotic flexible endoscope with shared autonomy: a study of mockup cholecystectomy. Surgical endoscopy 34:2730-2741.

[17] Su H, Mariani A, Ovur SE, Menciassi A, Ferrigno G, De Momi E (2021) Toward teaching by demonstration for robot-assisted minimally invasive surgery. IEEE Transactions on Automation Science and Engineering 18:484-494.

[18] Su H, Yang C, Ferrigno G, De Momi E (2019) Improved human–robot collaborative control of redundant robot for teleoperated minimally invasive surgery. IEEE Robotics and Automation Letters 4:447-1453.

[19] Vo CD, Jiang B, Azad TD, Crawford NR, Bydon A, Theodore N (2020) Robotic spine surgery: current state in minimally invasive surgery. Global Spine Journal 10:34S-40S.

[20] Zhang X, Li W, Ng WY, Huang Y, Xian Y, Chiu PWY, Li Z (2021). An autonomous robotic flexible endoscope system with a DNA-inspired continuum mechanism. In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 12055-12060. IEEE.

Abstract

References

How to cite