Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function

Li, Yanmin; Líu, Hao; Hao, Siwen; Li, Hongyi; Han, Jing; Yang, Yunsheng

doi:10.1002/rcs.1745

Cited by 10 publications

(7 citation statements)

References 24 publications

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“…The Endoscopic Operation Robot system (EOR) and Advance Endoscopy system were all based on the operation of commercial digestive endoscope, and they had a good performance in animal and human phantom experiments. Li et al had developed an endoscopic robot with dual robotic arms, and 29 clinical trials of gastro‐endoscope intervention diagnosis had been completed …”

Section: Introductionmentioning

confidence: 99%

“…Li et al had developed an endoscopic robot with dual robotic arms, and 29 clinical trials of gastro-endoscope intervention diagnosis had been completed. [13][14][15][16] In our previous animal and clinical experiments, although the robotic operation has greatly reduced the difficulty of manipulation of endoscope, a large amount of time is still spent on simple and repetitive tasks, such as operating the control knob to adjust the bending direction of the endoscope. How to make the robot assist doctors to complete operational tasks more efficiently has become a research focus on the surgical robot field.…”

Section: Introductionmentioning

confidence: 99%

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Navigation strategy for robotic soft endoscope intervention

Jiang

Zhou

Wang

et al. 2019

Robotics Computer Surgery

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Background Current soft endoscope intervention mainly depends on the skills of endoscopists, especially for the orientation of the endoscope within the human tortuous lumen. This dependence causes inefficient and time‐consuming surgery. Methods A human‐robot cooperation navigation strategy is proposed to perform the intervention of soft endoscope. The navigation strategy firstly detects the cavity center by processing the image of endoscope, then an auto‐orienting strategy is presented to automatically adjust the endoscope pointing to the detected cavity center. Results Human phantom experiments are carried out to validate the effectiveness and feasibility of the navigation strategy. The results show that the cavity center is accurately extracted with whether the cavity is occluded or not and the auto‐orienting strategy could well point the endoscope around the cavity center. Conclusion The proposed human‐robot cooperation navigation strategy releases endoscopists from the time‐consuming operations and improves the safety and automation of intervention procedures.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Navigation strategy for robotic soft endoscope intervention

Jiang

Zhou

Wang

et al. 2019

Robotics Computer Surgery

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“…Signal wires of CCD and light-guiding fibers are distributed inside the snake bone. A surgical robot system integrated with a flexible endoscope needs to precisely control the movement of the endoscope [6][7][8]. Currently, an endoscope is usually manipulated with an open-loop control strategy.…”

Section: Introductionmentioning

confidence: 99%

Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction

et al. 2019

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Flexible endoscopes are widely used in minimally invasive surgical robot systems. Various kinematic models have been developed for describing the deformation of such endoscopes. For joint-type flexible endoscopes, most existing models neglect the effect of internal friction and cannot precisely show the shape.In this paper, we propose a new nonlinear bending model. The rubber tube and metal net at each joint are approximated as a tube under elastic deformation and are assigned an equivalent bending stiffness. The internal friction force is also taken into account to build the moment balance equation at each joint. Groups of experiments were performed to validate the nonlinear model. The results closely confirm the model's predictions. The model's tip position error during the bending and unbending phases are 1.48 ± 0.99 mm and 1.68 ± 0.91 mm respectively; the bending angle errors are −5.50 ± 2.54°and 1.68 ± 3.66°, respectively The model can also take account of the hysteresis effect of the bending, which is quite common for cable-driven flexible robots. Moreover, the model has good computational efficiency, making it suitable for real-time control. ARTICLE HISTORY

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“…The doctor judges whether there are ulcers or polyps at the esophagus, stomach and duodenum according to the images taken by camera at the end of the gastroscope. A robot-assisted master-slave system for gastroscope intervention had been developed to assist the operator [1]. It enables the intuitive projection of motion between gastroscope and joystick by remotely controlling the forward/backward, bending and rotating operation of the end of the gastroscope through the joystick, reducing the difficulty of operation.…”

Section: Introductionmentioning

confidence: 99%

2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention

Xue

Wang

et al. 2019

2019 IEEE International Conference on Mechatronics and Automation (ICMA)

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Force perception plays an indispensable role in the surgical process and will be of great value in the medical field. It has a significant impact on the quality, efficiency and safety of surgery. The main purpose of this research is to design, control and evaluate a haptic device. An improved method of the output force is proposed, which based on the structure of the 2-DOF joystick consisting of motors, drives and sensors. The improved Energy-bounding algorithm (EBAC) is designed to output stable torque while considering static compensation. In order to compare the performance of three methods of Torque-control algorithm (TCA), Energy-bounding algorithm (EBA) and the EBAC, a virtual wall test is conducted in CHAI3D. The test results show that the EBAC has good real-time performance and reliability. The calculating precision of device is 0.03 mm, the workspace is 200 mm and the output force is within 10.6 N (continuous force) and 42.4 N (peak force).

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Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function

Abstract: The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety. Copyright © 2016 John Wiley & Sons, Ltd.

Cited by 10 publications

References 24 publications

Navigation strategy for robotic soft endoscope intervention

Navigation strategy for robotic soft endoscope intervention

Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction

2-DOF Haptic Device based on Closed-loop EBA Controller for Gastroscope Intervention

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