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CC BY-NC-ND 4.0 · Endosc Int Open 2018; 06(09): E1134-E1139
DOI: 10.1055/a-0655-7497
Original article
Owner and Copyright © Georg Thieme Verlag KG 2018

Haptic feedback is useful in remote manipulation of flexible endoscopes

Keiichiro Kume
1   Third Department of Internal Medicine, University of Occupational and Environmental Health, Japan, School of Medicine, Kitakyusyu, Japan
,
Nobuo Sakai
2   Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Fukuoka, Japan
,
Takaaki Goto
2   Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Fukuoka, Japan
› Author Affiliations
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Publication History

submitted 27 March 2018

accepted after revision: 03 July 2018

Publication Date:
11 September 2018 (online)

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Abstract

Background and study aims We developed the Endoscopic Operation Robot (EOR) version 3, offering built-in haptic feedback and manipulation of the entire scope with one hand. Manipulation of the flexible endoscope is done entirely remotely. However, inclusion of haptic feedback places a huge burden on the system. Our purpose in this study was to determine whether haptic feedback is needed in remote manipulation of a flexible endoscope.

Methods Five endoscopists performed total colonoscopy using a colonoscopy training model. A trial was conducted in which the endoscope was inserted up to the cecum five times with haptic feedback and five times without haptic feedback. Insertion time, maximum and mean haptic force, and incidence of sigmoid colon overstretching were compared between groups.

Results Insertion time was significantly shorter with haptic feedback than without, and overstretching of the sigmoid colon was less frequent. Insertion could thus be performed without using excessive force.

Conclusion Haptic feedback is useful for remote control manipulation of flexible endoscopes.

 

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