Automatic Control of Colonoscope Movement for Modern Colonoscopy

Abstract

The paper presents the mathematical realization of the trajectory that the colonoscope should have in the medical intervention, as well as the mathematical demonstration of the functions that make up the colonoscope. The goal of this work is finding a method for reducing the medical doctor's effort, by using intelligent control of colonoscope movement for improving the comfort of the patient subjected to a classical colonoscopy and reducing the risk of perforation of the colon. Finally, some experimental results are presented, validating the model and the control solutions adopted in the paper.