The security of minimally invasive surgery with an autonomous flexible endoscope

摘要

The surgical approach, Minimally Invasive Surgery (MIS), tries to limit stress on the patient's body and the number of incisions used during treatment. A flexible tube with a camera and light source known as an endoscope, which enables surgeons to see the interior organs and tissues, is one of the main instruments used in MIS. By expanding the capabilities of conventional endoscopes, Autonomous Flexible Endoscopes (AFE) can potentially change medical information systems. These autonomous devices can perform duties autonomously within the patient's body because they are outfitted with cutting-edge technology, including Artificial Intelligence (AI), computer vision, and robotic systems. Robotic surgical automation is a subject that is gaining more and more popularity. Although it is still impossible to fully automate a system, task and conditional autonomy are quite feasible. Safety is a key issue in robotic surgery, in addition to the performance of job completion. In this article, we introduce AFEs that can assist in autonomously guiding minimally invasive surgical procedures. The Tendon-driven Continuum Technique (TCT) served as the foundation for its development, and it is connected with the da Vinci Training Set (DVTS). There are six Degrees of Freedom (DOF) in the recommended AFEs. The surgical tools are automatically tracked using visual servoing. The AFE’s mobility and space occupancy is minimized throughout the tracking process using an optimum control strategy, improving the safety of the robot system and any surrounding assistance. Both empirical and user research findings demonstrate that the suggested AFE has benefits over the current rigid endoscope in terms of safety and reduced space requirements without compromising comfort level.