ArticleSurgical endoscopy2020
A robotic flexible endoscope with shared autonomy: a study of mockup cholecystectomy.
Article in Surgical endoscopy, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed, 27 citations in OpenAlex.
- Augmenting colonoscopy with artificial intelligence and robotic assistance: a human-factors scoping review toward a task-based shared autonomy paradigm.Journal of robotic surgery · 2026Article
- Will your next surgeon be a robot? Autonomy and AI in robotic surgery.Science robotics · 2025Review
- An Actuated Variable-View Rigid Scope System to Assist Visualization in Diagnostic Procedures.IEEE journal of translational engineering in health and medicine · 2024Article
- Scope actuation system for articulated laparoscopes.Surgical endoscopy · 2023Article
- Imaging-Navigated Surgery.Advances in experimental medicine and biology · 2023Article
- Autonomous robotic laparoscopic surgery for intestinal anastomosis.Science robotics · 2022Article
- A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
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Authors and funding
6 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundEndoscope is the eye of surgeon in minimally invasive surgery (MIS). Prevailing handheld endoscopes are manually steered, which can cause endoscope-instrument fencing. Robotic endoscopes can reduce the fatigue but could not reduce collisions. Handheld endoscopes with a flexible bending tip can reduce the shaft pivoting and collisions. However, its steering is challenging. In this paper, we present a robotic flexible endoscope with auto-tracking function and compare it with the conventional rigid endoscopes.
methodsA robotic flexible endoscope (RFE) with shared autonomy is developed. The RFE could either track the instruments automatically or be controlled by a foot pedal. A mockup cholecystectomy was designed to evaluate the performance. Five surgeons were invited to perform the mockup cholecystectomy in an abdominal cavity phantom with a manual rigid endoscope (MRE), a robotic rigid endoscope (RRE), and the RFE. Space occupation, time consumption, and questionnaires based on the NASA task load index were adopted to evaluate the performances and compare the three endoscope systems. An ex vivo experiment was conducted to demonstrate the feasibility of using the RFE in a biological tissue environment.
resultsAll surgeons completed the mockup cholecystectomy with the RFE independently. Failure occurred in the cases involving the RRE and the MRE. Inside the body cavity, the space occupied when using the RFE is 17.28% and 23.95% (p < 0.05) of that when using the MRE and the RRE, respectively. Outside the body cavity, the space occupied when using the RFE is 14.60% and 15.53% (p < 0.05) of that by using MRE and RRE. Time consumed in the operations with MRE, RRE, and RFE are 28.3 s, 93.2 s and 34.8 s, respectively. Questionnaires reveal that the performance of the RFE is the best among the three endoscope systems.
conclusionsThe RFE provides a wider field of view (FOV) and occupies less space than rigid endoscopes.
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