Slawinski, PR, Taddese, AZ, Musto, KB et al. (2 more authors) (2017) Autonomous Retroflexion of a Magnetic Flexible Endoscope. IEEE Robotics and Automation Letters, 2 (3). pp. 1354-1359. ISSN 2377-3766
Abstract
Retroflexion during colonoscopy is typically only practiced in the wider proximal and distal ends of the large intestine owing to the stiff nature of the colonoscope. This inability to examine the proximal side of the majority of colon folds contributes to today's suboptimal colorectal cancer detection rates. We have developed an algorithm for autonomous retroflexion of a flexible endoscope that is actuated magnetically from the tip. The magnetic wrench applied on the tip of the endoscope is optimized in real time with data from pose detection to compute motions of the actuating magnet. This is the first example of a completely autonomous maneuver by a magnetic endoscope for exploration of the gastrointestinal tract. The proposed approach was validated in plastic tubes of various diameters with a success rate of 98.8% for separation distances up to 50 mm. Additionally, a set of trials was conducted in an excised porcine colon observing a success rate of 100% with a mean time of 19.7 s. In terms of clinical safety, the maximum stress that is applied on the colon wall with our methodology is an order of magnitude below what would damage tissue.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © IEEE 2017. This is an author produced version of a paper accepted for publication in IEEE Robotics and Automation Letters. 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: | surgical robotics: steerable catheters/needles; Flexible robots; medical robots and systems; motion control |
Dates: |
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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) |
Funding Information: | Funder Grant number Royal Society Not Known National Institute of Health - NIH (PHS) 6R01EB018992 |
Depositing User: | Symplectic Publications |
Date Deposited: | 30 Jan 2017 12:01 |
Last Modified: | 19 Jan 2018 06:25 |
Published Version: | https://doi.org/10.1109/LRA.2017.2668459 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/LRA.2017.2668459 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:111342 |