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Navigation strategy for robotic soft endoscope intervention
Jiang W(江维); Zhou YY(周圆圆); Wang CY(王重阳); Peng LH(彭丽华); Yang YS(杨云生); Liu H(刘浩)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
ISSN1478-5951
2020
Volume16Issue:2Pages:1-10
Indexed BySCI
WOS IDWOS:000498833900001
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China [2018YFC0115101] ; Self-planned Project from State Key Laboratory of Robotics [2019-Z05] ; NSFC (National Nature Science Foundation of China)National Natural Science Foundation of China [61873257, 61503370]
Keywordauto-orienting human-robot cooperation navigation strategy robotic endoscope intervention YunsRobot
Abstract

Background Current soft endoscope intervention mainly depends on the skills of endoscopists, especially for the orientation of the endoscope within the human tortuous lumen. This dependence causes inefficient and time-consuming surgery. Methods A human-robot cooperation navigation strategy is proposed to perform the intervention of soft endoscope. The navigation strategy firstly detects the cavity center by processing the image of endoscope, then an auto-orienting strategy is presented to automatically adjust the endoscope pointing to the detected cavity center. Results Human phantom experiments are carried out to validate the effectiveness and feasibility of the navigation strategy. The results show that the cavity center is accurately extracted with whether the cavity is occluded or not and the auto-orienting strategy could well point the endoscope around the cavity center. Conclusion The proposed human-robot cooperation navigation strategy releases endoscopists from the time-consuming operations and improves the safety and automation of intervention procedures.

Language英语
WOS SubjectSurgery
WOS KeywordSEGMENTATION TECHNIQUE ; SYSTEM ; CANCER
WOS Research AreaSurgery
Funding ProjectNational Key Research and Development Program of China[2018YFC0115101] ; Self-planned Project from State Key Laboratory of Robotics[2019-Z05] ; NSFC (National Nature Science Foundation of China)[61873257] ; NSFC (National Nature Science Foundation of China)[61503370]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25977
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
4.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China
5.Department of Gastroenterology and Hepatology, Chinese PLA General Hospital, Beijing, China
Recommended Citation
GB/T 7714
Jiang W,Zhou YY,Wang CY,et al. Navigation strategy for robotic soft endoscope intervention[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,2020,16(2):1-10.
APA Jiang W,Zhou YY,Wang CY,Peng LH,Yang YS,&Liu H.(2020).Navigation strategy for robotic soft endoscope intervention.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,16(2),1-10.
MLA Jiang W,et al."Navigation strategy for robotic soft endoscope intervention".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 16.2(2020):1-10.
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