Endoscopic robots

Abstract

Endoscopy is an important procedure for the diagnostic and therapy of various pathologies. We develop extensive and automated systems for this field. Due to application of these new systems, a patient is subject to considerably less strains, as opposed to prevailing commercial systems. The capability of such instruments, unlike the presently used systems, to independently follow anatomical peculiarities of the body means also a reduced risk of complications for a patient. A further advantage is that difficult to access regions deep inside the body, like the small intestine or peripheral parts of the bronchial tubes, can thus be reached. The control is made automatic with a 6D-localisation system, a CCD camera, contact sensors, curvature sensors, and pressure sensors. This makes it possible for the doctor to control the endoscope via a human-machine interface without using his own force, and to avoid many problems of today, e.g., looping in the large intestine. The endoscope is driven in accordance with a new driving concept on the basis of fluid actuators or a magnetic probe. By fusion of all the sensor data in a relational data model, a model of the body inside by means of supplementary image processing. Amongst other things, it make possible to do a quick postoperative checkup. The relational model has been developed specially for endoscopy. In addition, the doctor can intraoperatively see with this model what parts inside the body have already been examined. In this way, a complete examination of, e.g., bronchi can easily be proved.