Autonomous Magnetic Navigation in Endoscopic Image Mosaics

• DOI: 10.1002/advs.202400980
• Publication Date: 2024-03-14T09:21:37Z
• Authors: Michelle Mattille; Quentin Boehler; Jonas Lussi; Nicole Ochsenbein; Ueli Moehrlen; Bradley J. Nelson
• Keywords: SAFER; Navigation System; Invasive surgery; Minimally invasive procedures

Abstract Endoscopes navigate within the human body to observe anatomical structures with minimal invasiveness. A major shortcoming of their use is narrow field‐of‐view during navigation in large, hollow regions. Mosaics endoscopic images can provide surgeons a map tool's environment. This would facilitate procedures, improve efficiency, and potentially generate better patient outcomes. The emergence magnetically steered endoscopes opens way safer procedures creates an opportunity robotic assistance both generation mosaic this map. paper proposes methods autonomously magnetic 1) image mosaics 2) these as user interfaces throughout explored area. These are first strategies, which allow autonomous organs minimally invasive surgeries. feasibility demonstrated experimentally vitro ex vivo context treatment twin‐to‐twin transfusion syndrome. procedure performed utero necessitates coagulating shared vessels twin fetuses on placenta. vasculature combination has potential significantly challenging surgery.