Design and Optimal Pose-Constrained Visual Servoing of a Novel Active Flexible Endoscope Holder System for Solo Laparoscopic Surgery

Zhang, Xue1,2; Li, Jian1; Huang, Yisen1; Xian, Yitian1; Meng, Max Q. -H.2; Chiu, Philip Wai Yan1,3,4; Li, Zheng1,3,4,5

2023-11-01

10.1002/aisy.202300571

ADVANCED INTELLIGENT SYSTEMS   影响因子和分区

2640-4567

["Laparoscopic surgery (LS) has become an effective and widely accepted therapy for patients. However, performing LS requires advanced training and skills, as it demands high precision and dexterity due to visual feedback depending on the collaboration between the surgeon and endoscope assistant, restricted field of view, and limited dexterity inside the body. Thus, a flexible endoscope holder system with an automatic control scheme is proposed to assist LS performance, allowing the surgeon to perform solo LS. A DNA-inspired helix-based structure with wide-angle and constant curvature bending is presented and made of printable nylon with selective laser sintering. The proposed flexible mechanism reduces the cost of manufacturing and assembling. Also, it has a hollow design for embedded sensing and actuation. Then, an optimization method is proposed, which provides a reference for the endoscope installation, robot placement, and pose selection. In addition, aiming at the misorientation problem, a pose-constrained visual servoing control scheme for the endoscope system is developed. Both simulation and physical experiments are conducted to verify the effectiveness and feasibility of the proposed control scheme. Experimental results demonstrate that the proposed visual servoing scheme can maintain the optimized pose and reduce misorientation during automatic view steering.","Herein, a novel flexible endoscope holder system is proposed first, which contains a UR5 robot arm and a novel flexible endoscope. Then, an optimization method is developed to optimize the configuration, layout, and pose of the endoscope system. Finally, the optimized pose-constrained visual servoing is formulated to enhance the safety of the system.image (c) 2023 WILEY-VCH GmbH"]

continuum mechanism design reachability map robot safety 3D printing surgical robots visual servoing

SCI ; EI

英语

其他

This work is supported by Hong Kong RGC General Research Fund with project nos. 14203019, 14202820, 14214322, and CUHK Strategic Seed Funding for Collaborative Research Scheme.["14203019","14202820","14214322"]

Automation & Control Systems ; Computer Science ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics

WOS:001100575500001

WILEY

Web of Science

1.Chinese Univ Hong Kong, Prince Wales Hosp, Dept Surg, Shatin, Hong Kong, Peoples R China
2.Southern Univ Sci & Technol, Engn Sch, Dept Elect & Elect Engn, Room 423,1088 Xueyuan Ave, Shenzhen 518055, Peoples R China
3.Chinese Univ Hong Kong, Prince Wales Hosp, Chow Yuk Ho Technol Ctr Innovat Med, Shatin, Room 94007,30-32 Ngan Shing St, Hong Kong, Peoples R China
4.Chinese Univ Hong Kong, Multiscale Med Robot Ctr Ltd, Room 1610,19W Bldg,Hong Kong Sci Pk, Hong Kong, Peoples R China
5.Chinese Univ Hong Kong, Prince Wales Hosp, Li Ka Shing Inst Hlth Sci, Shatin, Room 201,Li Ka Shing Med Sci Bldg, Hong Kong, Peoples R China

Zhang, Xue,Li, Jian,Huang, Yisen,et al. Design and Optimal Pose-Constrained Visual Servoing of a Novel Active Flexible Endoscope Holder System for Solo Laparoscopic Surgery[J]. ADVANCED INTELLIGENT SYSTEMS,2023.

Zhang, Xue.,Li, Jian.,Huang, Yisen.,Xian, Yitian.,Meng, Max Q. -H..,...&Li, Zheng.(2023).Design and Optimal Pose-Constrained Visual Servoing of a Novel Active Flexible Endoscope Holder System for Solo Laparoscopic Surgery.ADVANCED INTELLIGENT SYSTEMS.

Zhang, Xue,et al."Design and Optimal Pose-Constrained Visual Servoing of a Novel Active Flexible Endoscope Holder System for Solo Laparoscopic Surgery".ADVANCED INTELLIGENT SYSTEMS (2023).