Endoscopy ; instrumentation ; methods ; trends ; General Surgery ; methods ; Humans

This paper introduces the recent study and development of an aided endoscopic surgical robot system, and discusses its future trends--teleoperative robot system and telesurgery system. In addition, their key technologies are analyzed here in the paper.
Angioscopy ; Endoscopy ; methods ; trends ; Humans ; Laparoscopy ; Robotics ; instrumentation ; trends ; Surgery, Computer-Assisted ; instrumentation ; Telemedicine ; instrumentation ; Thoracoscopy

Catheterization ; instrumentation ; methods ; Endoscopy ; Humans ; Paranasal Sinuses ; Sinusitis ; therapy

An FPGA-Based Image Guided Surgery Hardware Platform has been designed and implemented in this paper. The hardware platform can provide hardware acceleration for image guided surgery. It is completed with a video decoder interface, a DDR memory controller, a 12C bus controller, an interrupt controller and so on. It is able to perform real time video endoscopy image capturing in the surgery and to preserve the hardware interface for image guided surgery algorithm module.
Algorithms ; Endoscopy ; methods ; Equipment Design ; Software ; Surgery, Computer-Assisted ; instrumentation

Considering that the patients would bear the annoyance of fixed posture for long time when they are examined with gastrointestinal wireless endoscopy, even though portable devices have been developed, the treatments still depend on PC so much, we proposed an embedded solution based on ARM + FPGA. It used embedded ARM9 S3C2440 as processor core, collected images from digestive tract through capsule endoscopy which can be swallowed down there, and wirelessly transferred these images to the receiving system, then used video decoder chip SAA7114H for analog of NTSC video image decode. And under FPGA's logic controlling, effective digital video signal was transferred to S3C2440 for further treatment. Finally within the embedded Linux environment, we programmed the visual user interfaces using the QT/Embedded, realizing the offline record of the real-time video images of digestive tract portable and preferences. It can make patients move more freely and even without PC when examining. In addition, the method greatly improves the efficiency of the doctor, and is more intelligent and with more humane nature.
Capsule Endoscopy ; instrumentation ; methods ; Equipment Design ; methods ; Humans ; Signal Processing, Computer-Assisted ; instrumentation ; Software ; Video Recording

This paper makes a comparison between the traditional endoscope system and the active robotic endoscope system, discusses the human intestine-working conditions of the robotic endoscope system in detail and its design requirements. An active robotic endoscope system based on earthworn-locomotion principles is proposed here and besides, its structure and locomotion mechanism are analyzed. A new method of human intestinal intervention is brought out and it can prevent the robotic endoscope guided by a cone-shaped guide pipe from being jammed or damaged.
Biomimetics ; instrumentation ; Endoscopes, Gastrointestinal ; Endoscopy, Gastrointestinal ; methods ; Equipment Design ; Humans ; Intestinal Diseases ; diagnosis ; Miniaturization ; Robotics ; instrumentation

This paper mainly introduces the design and implementation of rotary scanning imaging for Endoscopic Ultrasonography System based on USB2.0. The ultrasonic pulse-echo imaging technique has been used. In the paper, we simply introduce the emission circuit, receiving circuit and isolation circuit. According to the character of rotary scanning, we design the synchronous control circuit based on FPGA and data transmission circuit based on USB2.0. Finally the original polar coordinate image is transformed to rectangular coordinate grey image through coordinate transformation. The system performances have been validated by the experimental result gotten by scanning a specific object with continuous rotary motor.
Capsule Endoscopes ; Endoscopy, Gastrointestinal ; methods ; Equipment Design ; Humans ; Image Processing, Computer-Assisted ; methods ; Ultrasonography ; instrumentation ; methods

OBJECTIVEApneaGragh is a new device for simultaneous determination of obstructive sleep apnoeic events and continuous pressure measurements for localization of upper airway obstructive site. This study is to evaluate the clinical value of it.

METHODSFrom April to October in 2006, 32 obstructive sleep apnea (OSA) patients diagnosed by polysomnography (PSG) were examined by two methods: Endoscopy with müller's maneuver at daytime and continuous upper airway pressure recording with ApneaGraph at night in Peking Union Medical College Hospital. The upper airway obstructive sites determined by the two methods were compared. ApneaGraph transducer catheter contains two pressure sensors and two temperature sensors used for obstruction site determination and detection of apnoeic events during sleep. Obstructive sites were divided into upper (retropalatal oropharynx) or lower level (retroglossal region). The lower limit of upper airway obstruction was determined by observed pressure pattern. Used constituent retio to reflect the obstructive proportion of different levels. The apnea hypopnea index (AHI) measured by PSG and ApneaGraph were also compared.

RESULTSTwo patterns of obstruction were observed in our group: 1. The site of obstruction was located only at the upper level. 2. The obstruction of upper and lower level all present. Site of obstruction determined by Apneagraph: 28 (87.5%) cases had predominant sites of obstructions in upper level (the constituent retio of retropalatal obstruction > 50%), the others in lower level (the constituent retio of retroglossal obstruction > 50%). Endoscopy localization of obstruction: 18 cases had retropalatal obstructions alone, 13 cases had obstructions of retropalate combined with retroglossa, only 1 patient didn't have obstruction. Defined the constituent retio higher than thirty percent the criteria of obstruction, then identical results were obtained by both methods in retropalatal segment in 27 (84.4%) of the patients, while in only 17 (53.1%) obstructions was determined by the both methods in retroglossal areas. The polysomnograpic AHI (x +/- s) was 52.2 +/- 18.1, versus 50.2 +/- 16.0 obtained by ApneaGraph. There was a significant correlation between them (r = 0.876, P < 0.001).

CONCLUSIONSApneaGraph can identify the level of upper airway obstruction more accurate than fiberoptic pharyngoscopy. In the meantime, it also can serve as a portable PSG to diagnose sleep disordered breathing qualitatively.

Adult ; Aged ; Continuous Positive Airway Pressure ; instrumentation ; methods ; Endoscopy ; methods ; Humans ; Middle Aged ; Monitoring, Ambulatory ; instrumentation ; methods ; Polysomnography ; instrumentation ; methods ; Sleep Apnea, Obstructive ; diagnosis ; physiopathology ; Young Adult

This paper mainly introduces the design of digital scanning converter (DSC) for medical endoscopic ultrasound imaging. Fast modified vector totational CORDIC (FMVR-CORDIC) arithmetic complete coordinate conversion is used to increase the speed of ultrasonic scanning imaging. FPGA is used as the kernel module to control data transferring, related circuits and relevant chips' working, and to accomplish data preprocessing. With the advantages of simple structure, nice flexibility and convenience, it satisfies the demand for real-time displaying in this system. Finally, the original polar coordinate image is transformed to rectangular coordinate grey image through coordinate transformation. The system performances have been validated by the experimental result.
Algorithms ; Analog-Digital Conversion ; Capsule Endoscopes ; Endoscopy, Gastrointestinal ; methods ; Equipment Design ; Humans ; Signal Processing, Computer-Assisted ; instrumentation ; Ultrasonography ; instrumentation ; methods

Compared with open surgery, percutaneous transforaminal endoscopic discectomy (PTED) for lumbar disc herniation (LDH) has advantages of minamilly invasive, little impact on stability of spine and rapid recovery. However, PTED by transforaminal approach has relatively limited indications and can not completely replace open surgery, due to different location of migrated herniated fragment, the level of pathological segment or presence of a high iliac crest. Development of new approach and ancillary equipment have become the focus and future direction of PTED. In recent years, interlaminar and transiliac approach extended the indications of PTED greatly. However, not-standard manipulation, improper selection of indications or surgical approach has been attributed to the main reason for failure in PTED surgery. In view of this, the paper summaries indications, different approaches and methods, clinical efficacy and complications of PTED.
Diskectomy, Percutaneous ; instrumentation ; methods ; Endoscopy ; methods ; Humans ; Intervertebral Disc Displacement ; complications ; surgery ; Lumbar Vertebrae ; surgery