Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm
1
조회
0
다운로드
4
인용
0
참고문헌
키워드
초록
Purpose: Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods: The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopicprocedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results: A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motionsof colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion: This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.
Abstract
Purpose: Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods: The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopicprocedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results: A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motionsof colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion: This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.
참고문헌 (18)
- Dario P, "Modeling and experimental validation of the locomotion of endoscopic robots in the colon", Int J Rob Res, 23, pp.549~556 (2004)
- Kim B, "Inchworm-like microrobot for capsule endoscope", IEEE Int Conf Robot Biomim (2005)
- Kim B, "Inchworm-like colonoscopic robot with hollow body and steering device", JSME Int J Ser C, 49, pp.205~212 (2006)
- Iddan G, "Wireless capsule endoscopy", Nature, 405, pp.417~ (2000)
- 이주성, "A Flexible Chain-based Screw Propeller for Capsule Endoscopes", International Journal of Precision Engineering and Manufacturing, 10(4), pp.27~34 (2009), 한국정밀공학회
- Marescaux J, "Transatlantic robot-assisted telesurgery", Nature, 413, pp.379~380 (2001)
- Rothstein R, "Improving efficiency in endoscopy with robotic technology", Gastrointest Endosc Clin N Am, 14, pp.679~696 (2004)
- Lee J, "A visibility-based automatic path generation method for virtual colonoscopy", Lect Notes Comput Sci, 4035, pp.452~459 (2006)
- Adams RJ, "Stable haptic interaction with virtual environments", IEEE Trans Rob Autom, 15, pp.465~474 (1999)
- Phee L, "An innovative locomotion principle for minirobots moving in the gastrointestinal tract", IEEE Int Conf Robot Autom, 2, pp.1125~1130 (2002)
- Dogramadzi S, "Recording forces exerted on the bowel wall during colonoscopy: in vitro evaluation", Int J Med Robot, 1, pp.89~97 (2005)
- Appleyard MN, "The measurement of forces exerted during colonoscopy", Gastrointest Endosc, 52, pp.237~240 (2000)
- Najarian S, "Advances in medical robotic systems with specific applications in surgery--a review", J Med Eng Technol, 35, pp.19~33 (2011)
- Chi D, "From wired to wireless: a miniature robot for intestinal inspection", J Med Eng Technol, 27, pp.71~76 (2003)
- Wang K, "An earthworm-like robotic endoscope system for human intestine: design, analysis, and experiment", Ann Biomed Eng, 37, pp.210~221 (2009)
- Kundong W, "A wireless robotic endoscope for gastrointestine", IEEE Trans Robot, 24, pp.206~210 (2008)
- Kume K, "Development of a novel endoscopic manipulation system: The Endoscopic operation robot", World J Gastrointest Endosc, 3, pp.145~150 (2011)
- Kume K, "Development of a novel endoscopic manipulation system: the Endoscopic Operation Robot ver.3", Endoscopy, 47, pp.815~819 (2015)