Navigation strategy for robotic soft endoscope intervention

Jiang, Wenhong; Zhou, Yuanyuan; Wang, Chongyang; Peng, Lihua; Yang, Yunsheng; Líu, Hao

doi:10.1002/rcs.2056

Cited by 17 publications

(6 citation statements)

References 17 publications

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“…The operator using the proposed device is required to push and pull the exible tube by holding it during insertion. However, to fully automate the insertion process, a mechanical function such as a continuum robot 25,26 or robotic arm 27 must be added. Furthermore, to prevent damage to the intestinal tract, a function must be included that provides feedback on the tension of the wire during bending, pressure of the balloon, and force when pushing and pulling the exible tube.…”

Section: Discussionmentioning

confidence: 99%

Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Takamatsu¹,

Endo

Fukushima

et al. 2023

Preprint

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The insertion of conventional colonoscopes can result in the patient experiencing pain during the procedure owing to the stretching of the mesentery. In this study, a prototype of a robotic colonoscope with a double-balloon and double-bend tube based on the conventional double-balloon endoscope was developed to simplify insertion and prevent the overstretching of the colon. The outer and inner tubes were confirmed to be free from interference owing to wires and sheaths. Additionally, each function such as tip bending, inflation and deflation of the balloons, and pulling and pushing of the inner tube by the actuator could be operated properly. During the insertion test, the device could be reached the cecum of a colon model in approximately 442 s when operated by a non-medical operator. In addition, the device did not overstretch the colon model, thereby suggesting that the insertion mechanism can follow the shape of the colon model. Therefore, the developed mechanism can potentially pass through the highly-bent colon without overstretching.

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Section: Discussionmentioning

confidence: 99%

Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Takamatsu¹,

Endo

Fukushima

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…The operator using the proposed device is required to push and pull the flexible tube by holding it during insertion. However, to fully automate the insertion process, a mechanical function such as a continuum robot 25 , 26 or robotic arm 27 must be added.…”

Section: Discussionmentioning

confidence: 99%

Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Takamatsu

Endo

Fukushima

et al. 2023

Sci Rep

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The insertion of conventional colonoscopes can sometimes cause patients to experience pain during the procedure owing to the stretching of the mesentery. In this study, a prototype of a robotic colonoscope with a double-balloon and double-bend tube based on the conventional double-balloon endoscope was developed to simplify insertion and prevent the overstretching of the colon. Both the outer and inner tubes were confirmed to be free from interference from wires and sheaths. Additionally, all functions such as tip bending, inflation and deflation of the balloons, and actuator-driven pulling and pushing of the inner tube were operated properly. During the insertion test, the device could be reached the cecum of a colon model in approximately 442 s when operated by a non-medical operator. In addition, the device did not overstretch the colon model, thereby suggesting that the insertion mechanism can follow the shape of the colon model. As a result, the developed mechanism has the potential to navigate through a highly-bent colon without overstretching.

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“…Then, experiments on varying-friction with and anti-disturbance experiments are conducted to compare the performance and robustness of the proposed scheme with the standard PID controller, sliding mode-PI (SMPI) controller, and linear quadratic regulator (LQR) controller. The reason for choosing PID-based methods and LQR as the controllers for comparison is because they have been widely applied and demonstrated good performance in the field of robotic flexible endoscope (Jiang et al, 2020 ; Kong et al, 2023 ). It should be pointed out that the three comparative control methods have been modified according to the dynamics model of this paper, and the control gains have been correspondingly adjusted by trial and error to guarantee tracking accuracy.…”

Section: Simulation and Analysismentioning

confidence: 99%

Adaptive fuzzy control for tendon-sheath actuated bending-tip system with unknown friction for robotic flexible endoscope

Ren,

Wang,

et al. 2024

Front. Neurosci.

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IntroductionThe tendon-sheath actuated bending-tip system (TAB) has been widely applied to long-distance transmission scenes due to its high maneuverability, safety, and compliance, such as in exoskeleton robots, rescue robots, and surgical robots design. Due to the suitability of operation in a narrow or tortuous environment, TAB has demonstrated great application potential in the area of minimally invasive surgery. However, TAB involves highly non-linear behavior due to hysteresis, creepage, and non-linear friction existing on the tendon routing, which is an enormous challenge for accurate control.MethodsConsidering the difficulties in the precise modeling of non-linearity friction, this paper proposes a novel fuzzy control scheme for the Euler-Lagrange dynamics model of TAB for achieving tracking performance and providing accurate friction compensation. Finally, the asymptotic stability of the closed-loop system is proved theoretically and the effectiveness of the controller is verified by numerical simulation carried out in MATLAB/Simulink.ResultsThe desired angle can be reached quickly within 3 s by adopting the proposed controller without overshoot or oscillation in Tracking Experiment, demonstrating the regulation performance of the proposed control scheme. The proposed method still achieves the desired trajectory rapidly and accurately without steady-state errors in Varying-friction Experiment. The angle errors generated by external disturbances are < 1 deg under the proposed controller, which returns to zero in 2 s in Anti-disturbance Experiment. In contrast, comparative controllers take more time to be steady and are accompanied by oscillating and residual errors in all experiments.DiscussionThe proposed method is model-free control and has no strict requirement for the dynamics model and friction model. It is proved that advanced tracking performance and real-time response can be guaranteed under the presence of unknown bounded non-linear friction and time-varying non-linear dynamics.

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Navigation strategy for robotic soft endoscope intervention

Cited by 17 publications

References 17 publications

Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Adaptive fuzzy control for tendon-sheath actuated bending-tip system with unknown friction for robotic flexible endoscope

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