Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope.

Autor:	Legrand J; Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium., Javaux A; Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium., Ourak M; Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium., Wenmakers D; Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium., Vercauteren T; Department of Imaging and Biomedical Engineering, King's College London, London, United Kingdom.; Department of Development and Regeneration, KU Leuven, Leuven, Belgium., Deprest J; Department of Development and Regeneration, KU Leuven, Leuven, Belgium., Ourselin S; Department of Imaging and Biomedical Engineering, King's College London, London, United Kingdom., Denis K; Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium., Vander Poorten E; Laboratory of Robot-Assisted Surgery, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2019 Sep 20; Vol. 6, pp. 87. Date of Electronic Publication: 2019 Sep 20 (Print Publication: 2019).
DOI:	10.3389/frobt.2019.00087
Abstrakt:	The instruments currently used by surgeons for in utero treatment of the twin-to-twin transfusion syndrome (TTTS) are rigid or semi-rigid. Their poor dexterity makes this surgical intervention risky and the surgeon's work very complex. This paper proposes the design, assembly and quantitative evaluation of an add-on system intended to be placed on a commercialized cable-driven flexible endoscope. The add-on system is lightweight and easily exchangeable thanks to the McKibben muscle actuators embedded in its system. The combination of the flexible endoscope and the new add-on unit results in an easy controllable flexible instrument with great potential use in TTTS treatment, and especially for regions that are hard to reach with conventional instruments. The fetoscope has a precision of 7.4% over its entire bending range and allows to decrease the maximum planar force on the body wall of 6.15% compared to the original endoscope. The add-on control system also allows a more stable and precise actuation of the endoscope flexible tip. (Copyright © 2019 Legrand, Javaux, Ourak, Wenmakers, Vercauteren, Deprest, Ourselin, Denis and Vander Poorten.)
Databáze:	MEDLINE
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