Control of a multiple sections flexible endoscopic system

The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance...

Full description

Saved in:
Bibliographic Details
Main Authors: Bardou, B, Zanne, P, Nageotte, F, de Mathelin, M
Format: Conference Proceeding
Language:English
Subjects:
Endoscopes
Instruments
Jacobian matrices
Kinematics
Prototypes
Robots
Surgery
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c223t-4f42efa98cd5002c3527be48f54c1872ef1f63fef4b5b90952c68664475d69513
cites
container_end_page 2350
container_issue
container_start_page 2345
container_title
container_volume
creator Bardou, B
Zanne, P
Nageotte, F
de Mathelin, M
description The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently developing a robotized system. The prototype we propose is based on the combination of several flexible endoscopes. The kinematic model of the system is detailed in order to develop a method of control. The paper presents the implementation of a control strategy using an external sensor which allows to deal with non linearities induced by the cable mechanism of the endoscopes.
doi_str_mv 10.1109/IROS.2010.5649221
format conference_proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5649221</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5649221</ieee_id><sourcerecordid>5649221</sourcerecordid><originalsourceid>FETCH-LOGICAL-c223t-4f42efa98cd5002c3527be48f54c1872ef1f63fef4b5b90952c68664475d69513</originalsourceid><addsrcrecordid>eNpVkMlqwzAYhNUNGlI_QOlFL-BUy6_tWEyXQCDQ5Rxs-Reo2JaxXGjevoaGQk_DzAcDM4TccrbhnLn77ev-bSPYYpUGJwQ_I4UzloMA0NpoOCcrwZUsmdX64h8DdvnHlL0mRc6fjC1VxlmnV8RVaZin1NEUaE37r26OY4c0o59jGjINHX7HZklwaFP2aYye5mOesb8hV6HuMhYnXZOPp8f36qXc7Z-31cOu9ELIuYQAAkPtrG8VY8JLJUyDYIMCz61ZGA9aBgzQqMYxp4TXywoAo1rtFJdrcvfbGxHxME6xr6fj4XSE_AGF6Ewd</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Control of a multiple sections flexible endoscopic system</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Bardou, B ; Zanne, P ; Nageotte, F ; de Mathelin, M</creator><creatorcontrib>Bardou, B ; Zanne, P ; Nageotte, F ; de Mathelin, M</creatorcontrib><description>The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently developing a robotized system. The prototype we propose is based on the combination of several flexible endoscopes. The kinematic model of the system is detailed in order to develop a method of control. The paper presents the implementation of a control strategy using an external sensor which allows to deal with non linearities induced by the cable mechanism of the endoscopes.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 9781424466740</identifier><identifier>ISBN: 1424466741</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781424466764</identifier><identifier>EISBN: 1424466768</identifier><identifier>EISBN: 142446675X</identifier><identifier>EISBN: 9781424466757</identifier><identifier>DOI: 10.1109/IROS.2010.5649221</identifier><language>eng</language><publisher>IEEE</publisher><subject>Endoscopes ; Instruments ; Jacobian matrices ; Kinematics ; Prototypes ; Robots ; Surgery</subject><ispartof>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, p.2345-2350</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c223t-4f42efa98cd5002c3527be48f54c1872ef1f63fef4b5b90952c68664475d69513</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5649221$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,27902,54530,54895,54907</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5649221$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Bardou, B</creatorcontrib><creatorcontrib>Zanne, P</creatorcontrib><creatorcontrib>Nageotte, F</creatorcontrib><creatorcontrib>de Mathelin, M</creatorcontrib><title>Control of a multiple sections flexible endoscopic system</title><title>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently developing a robotized system. The prototype we propose is based on the combination of several flexible endoscopes. The kinematic model of the system is detailed in order to develop a method of control. The paper presents the implementation of a control strategy using an external sensor which allows to deal with non linearities induced by the cable mechanism of the endoscopes.</description><subject>Endoscopes</subject><subject>Instruments</subject><subject>Jacobian matrices</subject><subject>Kinematics</subject><subject>Prototypes</subject><subject>Robots</subject><subject>Surgery</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424466740</isbn><isbn>1424466741</isbn><isbn>9781424466764</isbn><isbn>1424466768</isbn><isbn>142446675X</isbn><isbn>9781424466757</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNpVkMlqwzAYhNUNGlI_QOlFL-BUy6_tWEyXQCDQ5Rxs-Reo2JaxXGjevoaGQk_DzAcDM4TccrbhnLn77ev-bSPYYpUGJwQ_I4UzloMA0NpoOCcrwZUsmdX64h8DdvnHlL0mRc6fjC1VxlmnV8RVaZin1NEUaE37r26OY4c0o59jGjINHX7HZklwaFP2aYye5mOesb8hV6HuMhYnXZOPp8f36qXc7Z-31cOu9ELIuYQAAkPtrG8VY8JLJUyDYIMCz61ZGA9aBgzQqMYxp4TXywoAo1rtFJdrcvfbGxHxME6xr6fj4XSE_AGF6Ewd</recordid><startdate>201010</startdate><enddate>201010</enddate><creator>Bardou, B</creator><creator>Zanne, P</creator><creator>Nageotte, F</creator><creator>de Mathelin, M</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201010</creationdate><title>Control of a multiple sections flexible endoscopic system</title><author>Bardou, B ; Zanne, P ; Nageotte, F ; de Mathelin, M</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c223t-4f42efa98cd5002c3527be48f54c1872ef1f63fef4b5b90952c68664475d69513</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Endoscopes</topic><topic>Instruments</topic><topic>Jacobian matrices</topic><topic>Kinematics</topic><topic>Prototypes</topic><topic>Robots</topic><topic>Surgery</topic><toplevel>online_resources</toplevel><creatorcontrib>Bardou, B</creatorcontrib><creatorcontrib>Zanne, P</creatorcontrib><creatorcontrib>Nageotte, F</creatorcontrib><creatorcontrib>de Mathelin, M</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Bardou, B</au><au>Zanne, P</au><au>Nageotte, F</au><au>de Mathelin, M</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Control of a multiple sections flexible endoscopic system</atitle><btitle>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2010-10</date><risdate>2010</risdate><spage>2345</spage><epage>2350</epage><pages>2345-2350</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424466740</isbn><isbn>1424466741</isbn><eisbn>9781424466764</eisbn><eisbn>1424466768</eisbn><eisbn>142446675X</eisbn><eisbn>9781424466757</eisbn><abstract>The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently developing a robotized system. The prototype we propose is based on the combination of several flexible endoscopes. The kinematic model of the system is detailed in order to develop a method of control. The paper presents the implementation of a control strategy using an external sensor which allows to deal with non linearities induced by the cable mechanism of the endoscopes.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2010.5649221</doi><tpages>6</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2153-0858
ispartof 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, p.2345-2350
issn 2153-0858
2153-0866
language eng
recordid cdi_ieee_primary_5649221
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Endoscopes
Instruments
Jacobian matrices
Kinematics
Prototypes
Robots
Surgery
title Control of a multiple sections flexible endoscopic system
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-23T17%3A14%3A53IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Control%20of%20a%20multiple%20sections%20flexible%20endoscopic%20system&rft.btitle=2010%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Bardou,%20B&rft.date=2010-10&rft.spage=2345&rft.epage=2350&rft.pages=2345-2350&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=9781424466740&rft.isbn_list=1424466741&rft_id=info:doi/10.1109/IROS.2010.5649221&rft.eisbn=9781424466764&rft.eisbn_list=1424466768&rft.eisbn_list=142446675X&rft.eisbn_list=9781424466757&rft_dat=%3Cieee_6IE%3E5649221%3C/ieee_6IE%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c223t-4f42efa98cd5002c3527be48f54c1872ef1f63fef4b5b90952c68664475d69513%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5649221&rfr_iscdi=true