Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

Trovato, Gabriele; Shikanai, M.; Ukawa, Genya; Kinoshita, Junichi; Murai, Noriyuki; Lee, J. W.; Ishii, Hiroyuki; Takanishi, Atsuo; Tanoue, Kazuo; Ieiri, Satoshi; Konishi, Kozo; Hashizume, Makoto

doi:10.1007/s11548-010-0481-0

Cited by 32 publications

(17 citation statements)

References 17 publications

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“…Based on the advantages and future prospects of autonomous navigation in colonoscopy, researchers in this field have been active a lot in recent years. Trovato et al developed a screw-type colon endoscope robot with automated motion adjustment controlled via reinforcement learning in vitro and in vivo; however, forward motion through straight segments was slow (11 mm/min) and navigation through bends proved awkward 10 . Ji-Yoon Kim et al developed a twistable threaded mechanism capable of spiral motion at roughly 350 mm/min 13 .…”

Section: Discussionmentioning

confidence: 99%

“…Numerous locomotion methods have been developed for CE navigation 9 . The fact that manual navigation systems are highly susceptible to human error and require that operators undergo extensive training has prompted development in autonomous locomotion systems for endoscopy 10 – 12 . Therefore, several articles on autonomous navigation of colonoscopy have shown the value of this field 10 – 14 .…”

Section: Introductionmentioning

confidence: 99%

“…The fact that manual navigation systems are highly susceptible to human error and require that operators undergo extensive training has prompted development in autonomous locomotion systems for endoscopy 10 – 12 . Therefore, several articles on autonomous navigation of colonoscopy have shown the value of this field 10 – 14 . However, in order to obtain the precise position of the endoscope in the human body in real-time, the complex sensing structure in the endoscope and computation algorithms are inevitable 15 – 17 .…”

Section: Introductionmentioning

confidence: 99%

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Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm

Huang

Yen

Chu

et al. 2021

Sci Rep

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This paper presents an autonomous navigation system for cost-effective magnetic-assisted colonoscopy, employing force-based sensors, an actuator, a proportional–integrator controller and a real-time heuristic searching method. The force sensing system uses load cells installed between the robotic arm and external permanent magnets to derive attractive force data as the basis for real-time surgical safety monitoring and tracking information to navigate the disposable magnetic colonoscope. The average tracking accuracy on magnetic field navigator (MFN) platform in x-axis and y-axis are 1.14 ± 0.59 mm and 1.61 ± 0.45 mm, respectively, presented in mean error ± standard deviation. The average detectable radius of the tracking system is 15 cm. Three simulations of path planning algorithms are presented and the learning real-time A* (LRTA*) algorithm with our proposed directional heuristic evaluation design has the best performance. It takes 75 steps to complete the traveling in unknown synthetic colon map. By integrating the force-based sensing technology and LRTA* path planning algorithm, the average time required to complete autonomous navigation of a highly realistic colonoscopy training model on the MFN platform is 15 min 38 s and the intubation rate is 83.33%. All autonomous navigation experiments are completed without intervention by the operator.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm

Huang

Yen

Chu

et al. 2021

Sci Rep

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“…When moving forward the front body rotates clockwise and the rear body rotates counter-clockwise, in this manner the robotic endoscope moves in a forward manner through the colon. 38 The fins are composed of a thermoplastic elastomer which is advantageous for three main reasons: ease of deformability, ductility, and workability. The ease of deformability means that it has a low degree of stiffness and is thus more compliable to the colon and less likely to damage the colonic walls.…”

Section: Robotically Controlled Advanced Colonoscopiesmentioning

confidence: 99%

“…The endoscope was able to move at a speed of 11 mm per minute and there was no structural damage to the colon in this set up. 38 One of the limitations to this design is that it is possible for the endoscope to become stuck in the colon if the colon is either too narrow or too wide. If it is to wide there will not be an appropriate amount of thrust force that can be generated and so the fins will not end up propelling the robot.…”

Section: Robotically Controlled Advanced Colonoscopiesmentioning

confidence: 99%

Robotics in Colonoscopy

Cater

Vyas

2014

Amer J Robot Surg

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Colorectal cancer is the second leading cause of mortality in men and women in the United States. While there is a definite advantage regarding the use of colonoscopies in screening, there is still a lack of widespread acceptance of colonoscopy use in the general public. This is evident by the fact that up to 75% of patients diagnosed with colorectal cancer present with locally advanced disease. In order to make colonoscopy and in turn colorectal cancer screening a patient friendly and a comfortable test some changes in tool are necessary. The conventional colonoscope has not changed much since its development. There are several new advances in colorectal screening practices. One of the most promising new advances is the advent of robotic endoscopic techniques.

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Wireless Endoscopy

Yuce

Alıcı

Than

2014

Wiley Encyclopedia of Electrical and Electronics Engineering

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Wireless endoscopy device is a miniature medical device that travels through the digestive system to collect images or physiological data and transfers them to an external console worn by patients or to a nearby TV/computer for display and monitoring. The current commercial devices have a dimension of approximately 11 × 26 mm with the shape of a pill so as to reach areas such as the small intestine to obtain video images. These devices record and transmit images over approximately an eight hour journey through the gastrointestinal (GI) tract. A video‐based capsule device produces a large amount of data from high‐resolution cameras, which is delivered over a high capacity wireless link. The commercially available capsules operate based on passive motion with no control over its position or orientation. These devices operate using small batteries with limited energy source. This article discusses implementation issues and presents details of techniques for design of wireless capsule systems. In addition, it outlines new studies involving motion control, localization and wireless energy transfer to increase the battery life of current wireless capsule devices. These new features will enable the next generation wireless capsule endoscopy devices to actively navigate within the GI tract of the human body and enable new therapeutic operations. Finally, the limitations of current devices are discussed and future directions and design challenges are highlighted for designers and researchers.

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Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

Abstract: This self-propelled robotic endoscope has potential as an alternative to current fibre optic colonoscopy examination methods, especially with the addition of new sensors under development.

Cited by 32 publications

References 17 publications

Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm

Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm

Robotics in Colonoscopy

Wireless Endoscopy

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