Integration of robotic in the reprocessing and transfer of endoscopes
Background and study aims Optimal hygiene is crucial for patients undergoing flexible endoscopy. Reprocessing is currently influenced by manual procedures performed by endoscopy staff. To overcome this limitation, we designed and evaluated the integration of robotic application for an automated endo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Georg Thieme Verlag KG
2022-08-01
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| Series: | Endoscopy International Open |
| Online Access: | http://www.thieme-connect.de/DOI/DOI?10.1055/a-1789-0532 |
| _version_ | 1811321254979829760 |
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| author | Hans Dieter Allescher Florian Voigt Martin Mangold Sami Haddadin |
| author_facet | Hans Dieter Allescher Florian Voigt Martin Mangold Sami Haddadin |
| author_sort | Hans Dieter Allescher |
| collection | DOAJ |
| description | Background and study aims Optimal hygiene is crucial for patients undergoing flexible endoscopy. Reprocessing is currently influenced by manual procedures performed by endoscopy staff. To overcome this limitation, we designed and evaluated the integration of robotic application for an automated endoscope processing pathway.
Methods We used an endoscope reprocessing pass through machine with drying cabinet and a Franka Emika Panda robot. The robot was programmed to interact with its environment in a compliant way, guaranteeing desired contact force thresholds and therefore ensuring safety of both robot and medical equipment.
Results In an initial phase we tested the robots’ ability to handle a modified tray holding an endoscope as well as certain challenges (correct positioning, connection of tubing, undesired collisions). We added another Panda robot arm resulting in a device featuring two independent manipulators and tested the accuracy of each individual step. We evaluated 50 consecutive processing and transfer procedures, simulating the average daily throughput of an endoscopic unit. The endoscopes were removed in adapted tray using a specially designed lifting device and placed in an endoscope storage and venting cabinet. The mean time for the handling of the scope was 104.2 ± 1.2 seconds and an accuracy of 100 % (0 failures in 50 attempts) was achieved.
Conclusions To the best of our knowledge, this is the first description and evaluation of an automated compliant robotic assistance in the processing of endoscopes. Further development could help to overcome shortcomings of the man handled endoscope processing and could lead to reproducible, standardized and certified endoscope processing. |
| first_indexed | 2024-04-13T13:14:44Z |
| format | Article |
| id | doaj.art-08c9c40b5eba442099dcd9e26db0032b |
| institution | Directory Open Access Journal |
| issn | 2364-3722 2196-9736 |
| language | English |
| last_indexed | 2024-04-13T13:14:44Z |
| publishDate | 2022-08-01 |
| publisher | Georg Thieme Verlag KG |
| record_format | Article |
| series | Endoscopy International Open |
| spelling | doaj.art-08c9c40b5eba442099dcd9e26db0032b2022-12-22T02:45:30ZengGeorg Thieme Verlag KGEndoscopy International Open2364-37222196-97362022-08-011008E1022E102810.1055/a-1789-0532Integration of robotic in the reprocessing and transfer of endoscopesHans Dieter Allescher0Florian Voigt1Martin Mangold2Sami Haddadin3Klinikum Garmisch-Partenkirchen, Teaching Hospital of the Ludwig Maximilians University Munich, Munich, GermanyChair of Robotics Science and Systems Intelligence, Technical University of Munich, Munich, GermanyKlinikum Garmisch-Partenkirchen, Teaching Hospital of the Ludwig Maximilians University Munich, Munich, GermanyChair of Robotics Science and Systems Intelligence, Technical University of Munich, Munich, GermanyBackground and study aims Optimal hygiene is crucial for patients undergoing flexible endoscopy. Reprocessing is currently influenced by manual procedures performed by endoscopy staff. To overcome this limitation, we designed and evaluated the integration of robotic application for an automated endoscope processing pathway. Methods We used an endoscope reprocessing pass through machine with drying cabinet and a Franka Emika Panda robot. The robot was programmed to interact with its environment in a compliant way, guaranteeing desired contact force thresholds and therefore ensuring safety of both robot and medical equipment. Results In an initial phase we tested the robots’ ability to handle a modified tray holding an endoscope as well as certain challenges (correct positioning, connection of tubing, undesired collisions). We added another Panda robot arm resulting in a device featuring two independent manipulators and tested the accuracy of each individual step. We evaluated 50 consecutive processing and transfer procedures, simulating the average daily throughput of an endoscopic unit. The endoscopes were removed in adapted tray using a specially designed lifting device and placed in an endoscope storage and venting cabinet. The mean time for the handling of the scope was 104.2 ± 1.2 seconds and an accuracy of 100 % (0 failures in 50 attempts) was achieved. Conclusions To the best of our knowledge, this is the first description and evaluation of an automated compliant robotic assistance in the processing of endoscopes. Further development could help to overcome shortcomings of the man handled endoscope processing and could lead to reproducible, standardized and certified endoscope processing.http://www.thieme-connect.de/DOI/DOI?10.1055/a-1789-0532 |
| spellingShingle | Hans Dieter Allescher Florian Voigt Martin Mangold Sami Haddadin Integration of robotic in the reprocessing and transfer of endoscopes Endoscopy International Open |
| title | Integration of robotic in the reprocessing and transfer of endoscopes |
| title_full | Integration of robotic in the reprocessing and transfer of endoscopes |
| title_fullStr | Integration of robotic in the reprocessing and transfer of endoscopes |
| title_full_unstemmed | Integration of robotic in the reprocessing and transfer of endoscopes |
| title_short | Integration of robotic in the reprocessing and transfer of endoscopes |
| title_sort | integration of robotic in the reprocessing and transfer of endoscopes |
| url | http://www.thieme-connect.de/DOI/DOI?10.1055/a-1789-0532 |
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