Controlling the trajectory of a flexible ultrathin endoscope for fully automated bladder surveillance
المؤلف | Burkhardt, Matthew R. |
المؤلف | Soper, Timothy D. |
المؤلف | Yoon, Woon Jong |
المؤلف | Seibel, Eric J. |
تاريخ الإتاحة | 2016-03-30T08:22:57Z |
تاريخ النشر | 2014-02 |
اسم المنشور | IEEE/ASME Transactions on Mechatronics |
المصدر | Scopus |
الاقتباس | M. R. Burkhardt, T. D. Soper, W. J. Yoon and E. J. Seibel, "Controlling the Trajectory of a Flexible Ultrathin Endoscope for Fully Automated Bladder Surveillance," in IEEE/ASME Transactions on Mechatronics, vol. 19, no. 1, pp. 366-373, Feb. 2014. |
الرقم المعياري الدولي للكتاب | 1083-4435 |
الملخص | During cystoscopy, the urologist manually steers a cyst scope inside a patient's bladder to visually inspect the inner surface. Cystoscopies are performed as part of surveillance for bladder cancer, making it the most expensive cancer to treat over a patient's lifetime. An automated bladder scanning system has been devised to reduce workload and cost by relieving the urologist from performing surveillance. Presented here is a proof-of-concept apparatus that controls the motion of a miniature flexible endoscope. Image-based feedback is used to adjust the endoscope's movement so that captured images overlap with one another, ensuring that the entire inner surface of the bladder is imaged. Within a bladder phantom, the apparatus adaptively created and followed a spherical scan pattern comprised of 13 individual latitudes and 508 captured images, while accepting between 60% and 90% image overlap between adjacent images. The elapsed time and number of captured images were sensitive to the apparatus's placement within the phantom and the acceptable image overlap percentage range. A mosaic of captured images was generated to validate comprehensive surveillance. Overall, a robotically controlled endoscope used in conjunction with image-based feedback may permit fully automated and comprehensive bladder surveillance to be conducted without direct clinician oversight. |
راعي المشروع | National Priorities Research Program (NPRP) under Grant NPRP 09-214-2-090 from the Qatar National Research Fund (a member of Qatar Foundation). |
اللغة | en |
الناشر | IEEE |
الموضوع | Adaptive control bladder endoscope robotic |
النوع | Article |
الصفحات | 366-373 |
رقم العدد | 1 |
رقم المجلد | 19 |
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