Intuitive master device for endoscopic robots with visual‐motor correspondence

Background Master devices exclusively used for endoscopes with position control are being developed as an isomorphic form of endoscopes. These master devices are difficult to intuitively operate because the movement direction of the endoscopic image and control handle do not match. Methods To solve...

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Bibliographic Details
Published in:The international journal of medical robotics + computer assisted surgery 2022-06, Vol.18 (3), p.e2397-n/a
Main Authors: Cheon, Byungsik, Baek, Hyunwoo, Kim, Chang‐Kyun, Ahn, Jeongdo, Kwon, Dong‐Soo
Format: Article
Language:English
Subjects:
endoscope
Endoscopes
Endoscopy
master device
medical robot
ureteroscope
visual‐motor correspondence
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Summary:Background Master devices exclusively used for endoscopes with position control are being developed as an isomorphic form of endoscopes. These master devices are difficult to intuitively operate because the movement direction of the endoscopic image and control handle do not match. Methods To solve this problem, a master device was developed. Its movement direction is compatible with that of the endoscopic image. It analyzes image movements according to flexible endoscopic ureteroscope movements for each degree of freedom. A driving testbed experiment was conducted that modelled the internal structure of a kidney. Results The time taken in the experiment was shorter when using the proposed master device than the existing isomorphic master device. The proposed device yielded fewer mistakes. Conclusions It was confirmed the proposed device is effective in exclusive use for endoscopes because of its feasibility of position control and movement direction's coinciding with that of the endoscopic image.
ISSN:1478-5951
1478-596X
DOI:10.1002/rcs.2397