A novel humanoid-robot simulator for colonoscopy

Fujii, Masashi; Onoyama, Takumi; Ikebuchi, Yuichiro; Uehara, Kazutake; Koga, Atsuro; Ueki, Minoru; Isomoto, Hajime

doi:10.1055/a-1264-6804

Cited by 6 publications

(7 citation statements)

References 5 publications

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“…Dynamic passive systems were also developed to study specific conditions of the gastrointestinal tract. For example, Mikoto, one of the soft commercially available devices, is able to simulate through an electromechanical system different abdominal pressures or its repositioning due to deep inspiration, as well as to provide feedback during the training session [101]. In [102], instead, a modular cast intestine was presented with additional dynamic control possibilities.…”

Section: Digestive Systemmentioning

confidence: 99%

“…Dynamic passive systems were developed also to study specific conditions of the gastrointestinal tract. One of the commercially available devices, named Mikoto, is for example, able through an electromechanical system to simulate different abdominal pressures or the reposition due to deep inspiration, as well as to provide feedbacks during the training session (74). Another solution was also presented in (75), where a modular casted intestine was presented.…”

Section: Digestive Systemmentioning

confidence: 99%

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Soft robotics for physical simulators, artificial organs and implantable assistive devices

et al. 2023

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In recent years, soft robotics technologies enabled the development of a new generation of biomedical devices. The combination of elastomeric materials with tunable properties and muscle-like motions paved the way toward more realistic phantoms and innovative soft active implants as artificial organs or assistive mechanisms. This review collects the most relevant studies in the field, giving some insights about their distribution in the past ten years, and their level of development, and opening a discussion about the most commonly employed materials and actuating technologies. The reported results show some promising trends, highlighting that the soft robotics approach can help replicate specific material characteristics, in the case of static or passive organs, but also reproduce peculiar natural motion patterns for the realization of dynamic phantoms or implants. At the same time, some important challenges still need to be addressed. However, by joining forces with other research fields and disciplines, it will be possible to get one step closer to the development of complex, active, self-sensing and deformable structures able to replicate as closely as possible the typical properties and functionalities of our natural body organs.

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Section: Digestive Systemmentioning

confidence: 99%

Section: Digestive Systemmentioning

confidence: 99%

Soft robotics for physical simulators, artificial organs and implantable assistive devices

et al. 2023

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“…Pressure and optical sensors enable measuring the distensibility of the colon phantom correlated with the potential pain experienced by the patient. This information together with other metrics tracked online is used to evaluate the trainee performance [ 85 ].…”

Section: Gi Endoscopy Simulators In Researchmentioning

confidence: 99%

Training Simulators for Gastrointestinal Endoscopy: Current and Future Perspectives

Finocchiaro

Valdivia

Hernansanz

et al. 2021

Cancers

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Gastrointestinal (GI) endoscopy is the gold standard in the detection and treatment of early and advanced GI cancers. However, conventional endoscopic techniques are technically demanding and require visual-spatial skills and significant hands-on experience. GI endoscopy simulators represent a valid solution to allow doctors to practice in a pre-clinical scenario. From the first endoscopy mannequin, developed in 1969, several simulation platforms have been developed, ranging from purely mechanical systems to more complex mechatronic devices and animal-based models. Considering the recent advancement of technologies (e.g., artificial intelligence, augmented reality, robotics), simulation platforms can now reach high levels of realism, representing a valid and smart alternative to standard trainee/mentor learning programs. This is particularly true nowadays, when the current demographic trend and the most recent pandemic demand, more than ever, the ability to cope with many patients. This review offers a broad view of the technology available for GI endoscopy training, including platforms currently in the market and the relevant advancements in this research and application field. Additionally, new training needs and new emerging technologies are discussed to understand where medical education is heading.

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“…Nevertheless, they often lack several features, e.g., i) detailed visual realism, ii) the possibility of selecting different anatomical configurations, and iii) the inclusion of objective feedback on the performance, besides their limited affordability [16]. To this end, recent research-oriented simulators [17], [18] have been developed to offer a wider range of realistic cases and reduce costs. This goal was achieved by using inexpensive materials and exploiting 3D-printing manufacturing, paving the way for adaptable and easy-to-fabricate phantoms.…”

Section: Introductionmentioning

confidence: 99%

“…Training Simulator NKS (Kyoto Kagaku Co.) [6]; Colonoscopy Simulator Type II (Koken Co.) [14]; Mikoto [18]; MESA [20].…”

Section: Introductionmentioning

confidence: 99%

Physical Simulator for Colonoscopy: A Modular Design Approach and Validation

et al. 2023

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Simulators for gastrointestinal (GI) endoscopy offer the opportunity to train and assess clinician skills in a low-risk environment. Physical simulators can enable direct instrument-to-organ interactions not provided by virtual platforms. However, they present scarce visual realism and limited variability in their anatomical conditions. Herein, we present an innovative and low-cost methodology for the design and fabrication of modular silicone colon simulators. The fabrication pipeline envisages parametric customization and development of 3D-printed molds for silicon pouring to obtain colon segments. The size of each colon segment is based on clinical data extracted from CT colonography images. Straight and curved segments are connected through silicone conjuncts to realize a customized and modular monolithic physical simulator. A 130 cm-long colon simulator prototype with assorted magnetically-connected polyps was fabricated and laid on a custom-made sensorized abdominal phantom. Content, face and construct validity of the designed simulator were assessed by 17 GI endoscopists. In summary, this work showed promising results for improving accessibility and flexibility of current colonoscopy physical simulators, paving the way for modular and personalized training programs.

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A novel humanoid-robot simulator for colonoscopy

Cited by 6 publications

References 5 publications

Soft robotics for physical simulators, artificial organs and implantable assistive devices

Soft robotics for physical simulators, artificial organs and implantable assistive devices

Training Simulators for Gastrointestinal Endoscopy: Current and Future Perspectives

Physical Simulator for Colonoscopy: A Modular Design Approach and Validation

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