Garbin, N, Wang, L, Chandler, JH orcid.org/0000-0001-9232-4966 et al. (3 more authors) (2019) Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. IEEE Transactions on Biomedical Engineering, 66 (7). pp. 1963-1974. ISSN 0018-9294
Abstract
Objective: This paper introduces a methodology to design intuitive, low-cost, and portable devices for visual inspection of the upper gastrointestinal tract. Methods: The proposed approach mechanically couples a multi-backbone continuum structure, as the user interface, and a parallel bellows actuator, as the endoscopic tip. Analytical modeling techniques derived from continuum robotics were adopted to describe the endoscopic tip motion from user input, accounting for variations in component size and pneumatic compressibility. The modeling framework was used to improve intuitiveness of user-to-task mapping. This was assessed against a 1:1 target, while ease-of-use was validated using landmark identification tasks performed in a stomach simulator by one expert and ten non-expert users; benchmarked against conventional flexible endoscopy. Pre-clinical validation consisted of comparative trials in in-vivo porcine and human cadaver models. Results: Target mapping was achieved with an average error of $5^\circ$ in bending angle. Simulated endoscopies were performed by an expert user successfully, within a time comparable to conventional endoscopy ( $< $ 1 min difference). Non-experts using the proposed device achieved visualization of the stomach in a shorter time (9 s faster on average) than with a conventional endoscope. The estimated cost is $< $ 10 USD and $< $ 30 USD for disposable and reusable parts, respectively. Significance and Conclusions: Flexible endoscopes are complex and expensive devices, actuated via non-intuitive cable-driven mechanisms. They frequently break, requiring costly repair, and necessitate a dedicated reprocessing facility to prevent cross contamination. The proposed solution is portable, inexpensive, and easy to use, thus lending itself to disposable use by personnel without formal training in flexible endoscopy.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 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. This is an author produced version of a paper published in IEEE Transactions on Biomedical Engineering. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Disposable endoscopy, parallel bellows actuator, multi-backbone manipulator, intuitiveness, low cost, continuum robots |
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) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society wm150122 EPSRC EP/P51097X/1 National Institute of Health - NIH (PHS) 6R01EB018992 Royal Society CH160052 EPSRC EP/P027938/1 NIHR National Inst Health Research 16/137/44 |
Depositing User: | Symplectic Publications |
Date Deposited: | 15 Nov 2018 13:23 |
Last Modified: | 04 Jul 2019 09:30 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/TBME.2018.2881717 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:138695 |