PDF herunterladen
CC BY-NC-ND 4.0 · Endosc Int Open 2018; 06(09): E1134-E1139
DOI: 10.1055/a-0655-7497
Original article
Owner and Copyright © Georg Thieme Verlag KG 2018

Haptic feedback is useful in remote manipulation of flexible endoscopes

Keiichiro Kume
1   Third Department of Internal Medicine, University of Occupational and Environmental Health, Japan, School of Medicine, Kitakyusyu, Japan
,
Nobuo Sakai
2   Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Fukuoka, Japan
,
Takaaki Goto
2   Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Fukuoka, Japan
› Institutsangaben
Weitere Informationen

Publikationsverlauf

submitted 27. März 2018

accepted after revision: 03. Juli 2018

Publikationsdatum:
11. September 2018 (online)

Auch verfügbar auf
   Lizenzen und Reprints

Abstract

Background and study aims We developed the Endoscopic Operation Robot (EOR) version 3, offering built-in haptic feedback and manipulation of the entire scope with one hand. Manipulation of the flexible endoscope is done entirely remotely. However, inclusion of haptic feedback places a huge burden on the system. Our purpose in this study was to determine whether haptic feedback is needed in remote manipulation of a flexible endoscope.

Methods Five endoscopists performed total colonoscopy using a colonoscopy training model. A trial was conducted in which the endoscope was inserted up to the cecum five times with haptic feedback and five times without haptic feedback. Insertion time, maximum and mean haptic force, and incidence of sigmoid colon overstretching were compared between groups.

Results Insertion time was significantly shorter with haptic feedback than without, and overstretching of the sigmoid colon was less frequent. Insertion could thus be performed without using excessive force.

Conclusion Haptic feedback is useful for remote control manipulation of flexible endoscopes.

 

  • References

  • 1 Phee SJ, Ho KY, Lomanto D. et al. Natural orifice transgastric endoscopic wedge hepatic resection in an experimental model using an intuitively controlled master and slave translumenal endoscopic robot (MASTER). Surg Endoscopy 2010; 24: 2293-2298
    CrossrefPubMedSuche in Google Scholar
  • 2 Phee SJ, Low SC, Huynh VA. et al. Master and slave translumenal endoscopic robot (MASTER) for natural orifice translumenal endoscopic surgery (NOTES). Conf Proc IEEE Eng Med Biol Soc 2009; 4: 1192-1195
    PubMedSuche in Google Scholar
  • 3 Ho KY, Phee SJ, Shabbir A. et al. Endoscopic submucosal dissection of gastric lesions by using a master and slave tranluminal endoscopic robot (MASTER). Gastrointest Endosc 2010; 72: 593-599
    CrossrefPubMedSuche in Google Scholar
  • 4 Phee SJ, Reddy N, Chiu PW. et al. Robot-assisted endoscopic submucosal dissection is effective in treating patients with early-stage gastric neoplasia. Clin Gastroenterol Hepatol 2012; 10: 1117-1121
    CrossrefPubMedSuche in Google Scholar
  • 5 Ikeda K, Sumiyama K, Tajiri H. et al. Evaluation of a new multitasking platform for endoscope full-thickness resection. Gastrointest Endosc 2011; 73: 117-122
    CrossrefPubMedSuche in Google Scholar
  • 6 Swanstrom LL. NOTES: platform development for a paradigm shift in flexible endoscopy. Gastroenterology 2011; 140: 1150-1154
    CrossrefPubMedSuche in Google Scholar
  • 7 Yeung BP, Gourlay T. A technical review of flexible endoscopic multitasking platforms. Int J Surg 2012; 10: 45-54
    CrossrefPubMedSuche in Google Scholar
  • 8 Klibansky D, Rothstein RI. Robotics in endoscopy. Curr Opin Gastroenterol 2012; 28: 477-482
    CrossrefPubMedSuche in Google Scholar
  • 9 Kume K, Kuroki T, Sugihara T. et al. Development of a novel endoscopic manipulation system: The endoscopic operation robot. World J Gastrointest Endosc 2011; 3: 145-150
    CrossrefPubMedSuche in Google Scholar
  • 10 Kume K, Kuroki T, Shingai M. et al. Endoscopic submucosal dissection using the endoscopic operation robot. Endoscopy 2012; 44: E399-E400
    Thieme ConnectPubMedSuche in Google Scholar
  • 11 Kume K, Kuroki T, Shingai M. Development of a novel endoscopic manipulation system: The endoscopic operation robot ver. 2. Hepatogastroenterology 2015; 62: 43-45
    PubMedSuche in Google Scholar
  • 12 Kume K, Sakai N, Goto T. Development of a novel endoscopic manipulation system: The endoscopic operation robot ver. 3. Endoscopy 2015; 47: 815-819
    Thieme ConnectPubMedSuche in Google Scholar
  • 13 Koehn JK, Kuchenbecker KJ. Surgeons and non-surgeons prefer haptic feedback of instrument vibrations during robotic surgery. Surg Endosc 2015; 29: 2970-2983
    CrossrefPubMedSuche in Google Scholar
  • 14 Spinelli A, David G, Gidaro S. et al. First experience in colorectal surgery with a new robotic platform with haptic feedback. Colorectal Dis 2017; [Epub ahead of print]
    CrossrefPubMedSuche in Google Scholar
  • 15 Pacchierotti C, Prattichizzo D, Kuchenbecker KJ. Cutaneous feedback of fingertip deformation and vibration for palpation in robot surgey. IEEE Trans Biomed Eng 2016; 63: 278-287
    CrossrefPubMedSuche in Google Scholar
  • 16 Griffin JA, Zhu W, Nam CS. The role of haptic feedback in robotic-assisted retinal microsurgery systems: a systematic review. IEEE Trans Hepatics 2017; 10: 94-105
    CrossrefPubMedSuche in Google Scholar
  • 17 Kume K. Flexible robotic endoscopy: current and original devices. Comput Assist Surg 2016; 1: 150-159
    CrossrefPubMedSuche in Google Scholar