Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

Abstract

PurposeColonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy.Materials and MethodsThe master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot.ResultsA slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures.ConclusionThis work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

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“…This robot also had a haptic feedback function. The robot enables colonoscope's insertion up to 1.5 m, rotation of 360 degrees, and tilting up to a ± 180°angle [10].…”

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“…The master robot is equipped with a tilting and an insertion/rotation device. The system is built with kinesthetic and haptic algorithm, and it does not require direct contact of the operator with the endoscope [16]. The slave robot has a range of motion same as that of the flexible endoscope.…”

“…The system can be adapted to a standard colonoscope by mounting it on the slave robot. A previous study showed that an expert endoscopist could complete the insertion of this robotic endoscope within 15 to 20 minutes, with 100% success rate [16]. Development of this system, however, is ongoing.…”

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“…They need careful clinical evaluation and should be tailored to specific clinical needs. In some cases, e.g., patients with acute coronary syndrome or high-syntax score lesions, special evaluation is needed for applying a robotic system [11][12][13]. Therefore, a master-slave robotic system for VIR is necessary for minimization of the radiation exposure to operators.…”