A Soft Robotic Sleeve for Safer Colonoscopy Procedures

McCandless, Max; Gerald, Arincheyan; Carroll, Ashlyn; Aihara, Hiroyuki; Russo, Sheila

doi:10.1109/lra.2021.3073651

Cited by 25 publications

(13 citation statements)

References 34 publications

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“…The robot attaches to the endoscopic device and provides feedback via optical sensors. Additionally, at a certain value set by the physician via the GUI (Graphical User Interface) in Matlab, the robot will pressurize the three circularly arranged actuators to redistribute pressure over a larger area during navigation [ 75 ].…”

Section: State Of the Art In Soft Roboticsmentioning

confidence: 99%

“… Ref. Component in the Structure Modeling Method Size Power F/M [ 27 ] CFRD—central water flow regulation channel Analytical, experimental Diameter 16 mm - - [ 28 ] Actuator (finger) Experimental, numerical - - - [ 54 ] Actuator Experimental, numerical - - - [ 75 ] Robot Experimental, numerical Length 118 mm, width 62 mm, thickness 3.5 mm - - [ 37 ] Gripper Analytical, experimental - - - [ 77 ] Robot structure Experimental, numerical Length 40 mm - - ...…”

Section: Table A1mentioning

confidence: 99%

“… Ref. Sensor Type Principle Material Characteristics Application [ 22 ] EGaIn Resistance variation by changing the geometry of the microchannels with the elongation of the material Elastomer, eutectic, gallium, indium Integrate into the elastic structure Closed-loop control systems [ 54 ] Bending, force, pressure, ultrasonic The variation in electrical resistance with the deformation of the structures - Integration into the actuator structure Closed-loop control systems [ 75 ] Soft optical sensor Converts the optical signal into force Vytaflex 20 Core 100 mm long and 1x1 cross-section Medical applications [ 38 ] Liquid metal—galinstan Resistance variation by changing the geometry of the microchannels with the elongation of the material Elastomer, eutectic, gallium, indium Channels of square cross-section with 500 micron sides Closed-loop control systems [ 86 ] EGaIn Resistance variation by changing the geometry of the microchannels with the elongation of the material Elastomer, eutectic, gallium, indium Channel thickness of40 µm …”

Section: Table A1mentioning

confidence: 99%

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Soft Robotics: A Systematic Review and Bibliometric Analysis

et al. 2023

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In recent years, soft robotics has developed considerably, especially since the year 2018 when it became a hot field among current research topics. The attention that this field receives from researchers and the public is marked by the substantial increase in both the quantity and the quality of scientific publications. In this review, in order to create a relevant and comprehensive picture of this field both quantitatively and qualitatively, the paper approaches two directions. The first direction is centered on a bibliometric analysis focused on the period 2008–2022 with the exact expression that best characterizes this field, which is “Soft Robotics”, and the data were taken from a series of multidisciplinary databases and a specialized journal. The second direction focuses on the analysis of bibliographic references that were rigorously selected following a clear methodology based on a series of inclusion and exclusion criteria. After the selection of bibliographic sources, 111 papers were part of the final analysis, which have been analyzed in detail considering three different perspectives: one related to the design principle (biologically inspired soft robotics), one related to functionality (closed/open-loop control), and one from a biomedical applications perspective.

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Section: State Of the Art In Soft Roboticsmentioning

confidence: 99%

Section: Table A1mentioning

confidence: 99%

Section: Table A1mentioning

confidence: 99%

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Soft Robotics: A Systematic Review and Bibliometric Analysis

et al. 2023

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“…Overall, technologies for traditional interventional colonoscopies and robot-assisted endoscopies have mainly focused on endoscope shape sensing, tissue-force interaction, and colonic navigation to reduce occurrence of pain and SAEs. [36][37][38][39][40][41] Examples of soft sensing technologies for colonoscopy include a soft robotic sleeve, with optical waveguides that can be mounted along a colonoscope to sense incident force between the instrument and the colon wall, [42] distal tip force-interaction sensors, [43] and endoscopic shape sensing using fiber Bragg grating (FBG) sensors. [44] Ultimately, there appears to be a dearth of work seeking to integrate biological sensing capabilities onto colonoscopes.…”

Section: Doi: 101002/aisy202100254mentioning

confidence: 99%

A Soft Sensor for Bleeding Detection in Colonoscopies

Gerald

McCandless

Sheth

et al. 2022

Advanced Intelligent Systems

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Colonoscopies allow surgeons to detect common diseases, that is, colorectal cancer, ulcers, and other ailments. However, there is a risk of bleeding in the lower gastrointestinal (GI) tract while maneuvering endoscopes. This may be due to perforations, hemorrhaging, polyps, diverticula, or post‐biopsy complications. Thus, it is essential for the surgeon to be able to detect bleeding at the site and evaluate the severity of blood leakage. Herein, a soft sensor that can detect the presence of blood at the bleeding site during colonoscopies is presented. The sensor consists of optical waveguides that interface with a microfluidic channel. Blood flow causes absorption and scattering of incident light that can be picked up by the optical sensing apparatus via light transmission through the waveguide. The surgeon can be alerted when bleeding occurs through a graphical user interface. The device is compact and measures only 1 mm thick. This allows the sensor to be circumferentially mounted onto a colonoscope at different locations. The sensor is able to record the presence of blood as an optical loss, rapidly detect the presence of blood under 100 ms as it enters the microchannel, and differentiate between gastric fluid and blood through changes in measured optical loss.

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“…The work provides a first step towards more perceptive, fluid-actuated, deployable endoluminal or transluminal medical devices and could find application across a number of clinical specialties and applications which are targeted to be addressed with the help of fluid-driven soft robotics technologies, such as intra-body mechano-stimulation of tissues [12], [17], colonoscopy [18], [19] or wider endoscopic interventions [20].…”

Section: Force Sensing and Motion Estimation In Cartesian Spacementioning

confidence: 99%