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Micromachines
Volume 15
Issue 2
10.3390/mi15020276
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Article

Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection †

by
Jian Chen
1,2,3,
Shuai Wang
3,
Qingxiang Zhao
3,
Wei Huang
3,
Mingcong Chen
4,
Jian Hu
2,3,
Yihe Wang
3 and
Hongbin Liu
2,3,5,*
1
School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
2
Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
3
Centre of AI and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong
4
Department of Biomedical Engineering, City University of Hong Kong, Hong Kong
5
School of Biomedical Engineering and Imaging Sciences, King’s College London, London SE1 7EU, UK
*
Author to whom correspondence should be addressed.
†
This paper is an extended version of our paper published in the 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2023), Sydney, Australia, 24–27 July 2023.
Micromachines 2024, 15(2), 276; https://doi.org/10.3390/mi15020276
Submission received: 4 January 2024 / Revised: 7 February 2024 / Accepted: 14 February 2024 / Published: 15 February 2024
(This article belongs to the Special Issue Micro/Nano Systems and Devices for Biomedical Applications: Design, Fabrication and Applications)
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Abstract

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.
Keywords: surgical robot; stereo visual servoing control; endoscopic submucosal dissection; soft robot surgical robot; stereo visual servoing control; endoscopic submucosal dissection; soft robot

Share and Cite

MDPI and ACS Style

Chen, J.; Wang, S.; Zhao, Q.; Huang, W.; Chen, M.; Hu, J.; Wang, Y.; Liu, H. Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection. Micromachines 2024, 15, 276. https://doi.org/10.3390/mi15020276

AMA Style

Chen J, Wang S, Zhao Q, Huang W, Chen M, Hu J, Wang Y, Liu H. Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection. Micromachines. 2024; 15(2):276. https://doi.org/10.3390/mi15020276

Chicago/Turabian Style

Chen, Jian, Shuai Wang, Qingxiang Zhao, Wei Huang, Mingcong Chen, Jian Hu, Yihe Wang, and Hongbin Liu. 2024. "Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection" Micromachines 15, no. 2: 276. https://doi.org/10.3390/mi15020276

APA Style

Chen, J., Wang, S., Zhao, Q., Huang, W., Chen, M., Hu, J., Wang, Y., & Liu, H. (2024). Stereo Visual Servoing Control of a Soft Endoscope for Upper Gastrointestinal Endoscopic Submucosal Dissection. Micromachines, 15(2), 276. https://doi.org/10.3390/mi15020276

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