Campisano, F, Remirez, AA, Landewee, CA et al. (4 more authors) (2020) Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. IEEE Robotics and Automation Letters, 5 (4). pp. 6427-6434. ISSN 2377-3766
Abstract
Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-actuated HydroJet endoscopic platform was developed as a low-cost, disposable alternative for inspection of the gastric cavity in low-resource settings. In this work, we present a teleoperation scheme and contact detection algorithm that work together to enable intuitive teleoperation of the HydroJet within the confined space of the stomach. Using a geometrically accurate stomach model and realistic anatomical inspection targets, we demonstrate that, using these methods, a novice user can complete a gastroscopy in approximately the same amount of time with the HydroJet as with a conventional endoscope.
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. | ||||||||||||||
Keywords: | Medical Robots and Systems; Contact Modeling; Telerobotics and Teleoperation | ||||||||||||||
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Institution: | The University of Leeds | ||||||||||||||
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) | ||||||||||||||
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Depositing User: | Symplectic Publications | ||||||||||||||
Date Deposited: | 24 Jul 2020 14:59 | ||||||||||||||
Last Modified: | 24 Sep 2020 08:57 | ||||||||||||||
Status: | Published | ||||||||||||||
Publisher: | Institute of Electrical and Electronics Engineers | ||||||||||||||
Identification Number: | https://doi.org/10.1109/LRA.2020.3013900 |