This paper preliminarily reports the robotic system working inside the gantry of vertical field Open MRI. This manipulator is new in terms of the application to vertical field Open MRI, cost effectiveness, accuracy and stiffness sufficient for endoscope manipulation. The endoscope manipulation for trans-nasal neurosurgery under MR-guidance was selected as the sample task. The endoscope operatio...

A simulation system for flexible endoscopy is described, based on virtual reality techniques. The physician moves the flexible endoscope inside a pipe, in which forces are applied to it. In addition the navigation wheels provide force feedback from the bending of the endoscope’s tip. The paper focuses on the design and implementation of the special purpose haptic display which actively generate...

BACKGROUND Parapharyngeal space (PPS) tumors are rare tumors for which the surgical management differs widely. The purpose of this study was to discuss the advantages and disadvantages of the endoscope-assisted transoral approach over the traditional approaches. METHODS This prospective study included 4 patients who were diagnosed with PPS tumors and treated with the endoscope-assisted transo...

One of the problems tightly linked to endoscopic surgery is the fact that, because of the narrow field of view, it is sometimes quite difficult to locate the objects that can be seen through the endoscope. This is especially true in cardiac surgery, where it is difficult to not confuse two coronary arteries on a beating heart. We propose in this paper a methodology to achieve coronary localisat...

The objective of this project is to study examines the problem of peristaltic flow in a tube with an endoscope subjected to rotation. The effect of an endoscope and rotation of the peristaltic flow of a Jeffrey fluid through the cylindrical cavity between concentric tubes is investigated. The analytical expressions for the pressure gradient, velocity, pressure rise, friction force on the inner ...

The purpose of this study is to develop a new endoscope for performing simple surgical tasks inside a cardiac atrium/chamber filled with blood, i.e., for performing "off-pump" cardiac surgeries. In general, it is very difficult to observe the inner wall of the vessels containing circulating blood because the light from the endoscope is scattered by the red blood cells. "Plasma flushing" perform...