Identification of the flexible actuator of a colonoscope

Chen, G.; Thomann, Guillaume; Bétemps, M.; Redarce, Tanneguy

doi:10.1109/iros.2003.1249674

Cited by 6 publications

(3 citation statements)

References 14 publications

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“…The vector of parameters [b 0 ,a 0 ,a 1 ,a 2 ] T of this third-order system can be easily obtained by using nonlinear optimisation based on Levenberg-Marquardt's algorithm [22]. The method entails minimising quadratic criteria between the outputs measured in the system and those simulated in the model.…”

Section: Determination Of the Open-loop Systemmentioning

confidence: 99%

Design and control of an autonomous bendable tip for colonoscopy

Thomann

Chen

Redarce

2008

J. Micro-Nano Mech.

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12International audienceAbstract Minimally invasive surgery (MIS) is becoming one of the most important research areas in the field of medical robotics. The colonoscope is an example of a medical instrument that meets the needs of MIS. In this report, we present a new colonoscope tip, a system whose aim is to avoid perforation and haemorrhage of the colon wall which sometimes occur during medical procedures. It facilitates the surgeon's manoeuvrability, reducing operating time and increasing safety. This typical mechatronic system has been named EDORA (French acronym for Extrémité Distale à ORientation Automatique/distal tip with automated orientation). It is electropneumatically driven and comprised three metal bellows positioned 120° apart; three optical sensors placed on the upper plate of EDORA allow autonomous navigation of the colonoscope within the intestine. In this paper, we present the design of EDORA, describe geometrical and dynamical models, validate the models and present the results of travel through a curved tube

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Section: Determination Of the Open-loop Systemmentioning

confidence: 99%

Design and control of an autonomous bendable tip for colonoscopy

Thomann

Chen

Redarce

2008

J. Micro-Nano Mech.

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“…Relations between the stretch length and the applied pressure in each chamber Bellows-based flexible robots presented in [13,16] suppose that the length variation of each bellows is proportional to the applied pressure. In our case, however, the strong nonlinearity relating the stretch length of chamber to the pressure variation has been shown in preliminary experiments.…”

Section: B Design Of Colobotmentioning

confidence: 99%

“…This semiautonomous configuration can facilitate the introduction of a colonoscope. Some works on the modeling and control of EDORA can be found in [16,17]. This paper describes our ongoing efforts to design a new bendable tip with an improved dexterity by using silicone rubber.…”

Section: Introductionmentioning

confidence: 99%

Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy

Chen

Pham

Redarce

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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International audienceIn this paper, the authors describe the design of a bendable robotic tip for semi-autonomous colonoscopy called COLOBOT. It is a flexible robotic manipulator made of silicone rubber in view of the compact size and biocompatibility. The outer diameter of the tip is 17 mm which is lesser than the average diameter of colon (20 mm). Three servo-valves are used to control the pressure of each chamber of this tip to obtain its flexible movement. The experimental results of this new prototype show that it can bend until 120 degrees under the pressure of 2 bar. Based on the geometric deformation and a nonlinear analysis of the silicone behavior, a direct kinematic model analogous to the forward kinematics of a conventional industrial robot kinematics chain has been put forward. The proposed kinematic model of this bendable tip is an extended model of classical models found for such a mechanism. At first a polynomial approximation is used to characterize the non linear behavior of each chamber of the actuator. Next the coupling phenomena between each chamber are highlighted through experimental tests. A new correction parameter is then proposed to take into account these interactions and a non linear optimization is made to compute this coefficient. Finally, the proposed kinematic model is experimentally validate

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Analysis of a Dexterous Instrument for Minimally Invasive Procedures, Based on Bellows Actuators

Dudescu

Mândru

2011

IFMBE Proceedings

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Identification of the flexible actuator of a colonoscope

Cited by 6 publications

References 14 publications

Design and control of an autonomous bendable tip for colonoscopy

Design and control of an autonomous bendable tip for colonoscopy

Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy

Analysis of a Dexterous Instrument for Minimally Invasive Procedures, Based on Bellows Actuators

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