MIRA-Institute for Biomedical Technology and Technical Medicine, University of Twente, The Netherlands.
Int J Med Robot. 2011 Jun;7(2):178-86. doi: 10.1002/rcs.386. Epub 2011 Apr 2.
Steering the tip of a flexible endoscope relies on the physician's dexterity and experience. For complex flexible endoscopes, conventional controls may be inadequate.
A steering method based on a multi-degree-of-freedom haptic device is presented. Haptic cues are generated based on the endoscopic images. The method is compared against steering using the same haptic device without haptic cues, and against conventional steering. Human-subject studies were conducted in which 12 students and 6 expert gastroenterologists participated.
Experts are significantly faster when using the conventional method compared with using the haptic device, either with or without haptic cues. However, it is expected that the performance of the subjects with the haptic device will increase with experience.
Using a haptic device may be a viable alternative to the conventional method for the control of complex flexible endoscopes. The results suggest that the use of haptic cues may reduce the patient discomfort.
操控软性内窥镜的尖端依赖于医生的灵巧和经验。对于复杂的软性内窥镜，传统的控制方法可能不够。
提出了一种基于多自由度触觉设备的转向方法。触觉提示是根据内窥镜图像生成的。该方法与使用相同触觉设备但没有触觉提示的转向方法以及传统转向方法进行了比较。进行了人体受试者研究，其中有 12 名学生和 6 名专家胃肠病学家参加。
与使用触觉设备或没有触觉提示相比，专家使用传统方法时速度明显更快。然而，预计具有触觉设备的受试者的性能将随着经验的增加而提高。
使用触觉设备可能是控制复杂软性内窥镜的传统方法的一种可行替代方法。结果表明，使用触觉提示可能会减少患者的不适。
