Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection
Quickly and accurately completing endoscopic submucosal dissection (ESD) operations within narrow lumens is currently challenging because of the environment’s high flexibility, invisible collision, and natural tissue motion. This paper proposes a novel stereo visual servoing control for a dual-segme...
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| Format: | Article |
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MDPI AG
2024-02-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/15/2/276 |
| _version_ | 1797297499363344384 |
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| author | Jian Chen Shuai Wang Qingxiang Zhao Wei Huang Mingcong Chen Jian Hu Yihe Wang Hongbin Liu |
| author_facet | Jian Chen Shuai Wang Qingxiang Zhao Wei Huang Mingcong Chen Jian Hu Yihe Wang Hongbin Liu |
| author_sort | Jian Chen |
| collection | DOAJ |
| description | Quickly and accurately completing endoscopic submucosal dissection (ESD) operations within narrow lumens is currently challenging because of the environment’s high flexibility, invisible collision, and natural tissue motion. This paper proposes a novel stereo visual servoing control for a dual-segment robotic endoscope (DSRE) for ESD surgery. Departing from conventional monocular-based methods, our DSRE leverages stereoscopic imaging to rapidly extract precise depth data, enabling quicker controller convergence and enhanced surgical accuracy. The system’s dual-segment configuration enables agile maneuverability around lesions, while its compliant structure ensures adaptability within the surgical environment. The implemented stereo visual servo controller uses image features for real-time feedback and dynamically updates gain coefficients, facilitating rapid convergence to the target. In visual servoing experiments, the controller demonstrated strong performance across various tasks. Even when subjected to unknown external forces, the controller maintained robust performance in target tracking. The feasibility and effectiveness of the DSRE were further verified through ex vivo experiments. We posit that this novel system holds significant potential for clinical application in ESD surgeries. |
| first_indexed | 2024-03-07T22:21:13Z |
| format | Article |
| id | doaj.art-bc13daacdec64ed1bbcfad50dfb6d346 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-07T22:21:13Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-bc13daacdec64ed1bbcfad50dfb6d3462024-02-23T15:27:53ZengMDPI AGMicromachines2072-666X2024-02-0115227610.3390/mi15020276Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal DissectionJian Chen0Shuai Wang1Qingxiang Zhao2Wei Huang3Mingcong Chen4Jian Hu5Yihe Wang6Hongbin Liu7School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, ChinaCentre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong KongCentre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong KongCentre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong KongDepartment of Biomedical Engineering, City University of Hong Kong, Hong KongInstitute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaCentre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong KongInstitute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaQuickly and accurately completing endoscopic submucosal dissection (ESD) operations within narrow lumens is currently challenging because of the environment’s high flexibility, invisible collision, and natural tissue motion. This paper proposes a novel stereo visual servoing control for a dual-segment robotic endoscope (DSRE) for ESD surgery. Departing from conventional monocular-based methods, our DSRE leverages stereoscopic imaging to rapidly extract precise depth data, enabling quicker controller convergence and enhanced surgical accuracy. The system’s dual-segment configuration enables agile maneuverability around lesions, while its compliant structure ensures adaptability within the surgical environment. The implemented stereo visual servo controller uses image features for real-time feedback and dynamically updates gain coefficients, facilitating rapid convergence to the target. In visual servoing experiments, the controller demonstrated strong performance across various tasks. Even when subjected to unknown external forces, the controller maintained robust performance in target tracking. The feasibility and effectiveness of the DSRE were further verified through ex vivo experiments. We posit that this novel system holds significant potential for clinical application in ESD surgeries.https://www.mdpi.com/2072-666X/15/2/276surgical robotstereo visual servoing controlendoscopic submucosal dissectionsoft robot |
| spellingShingle | Jian Chen Shuai Wang Qingxiang Zhao Wei Huang Mingcong Chen Jian Hu Yihe Wang Hongbin Liu Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection Micromachines surgical robot stereo visual servoing control endoscopic submucosal dissection soft robot |
| title | Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection |
| title_full | Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection |
| title_fullStr | Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection |
| title_full_unstemmed | Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection |
| title_short | Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection |
| title_sort | stereo visual servoing control of a soft endoscope for upper gastrointestinal endoscopic submucosal dissection |
| topic | surgical robot stereo visual servoing control endoscopic submucosal dissection soft robot |
| url | https://www.mdpi.com/2072-666X/15/2/276 |
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