Liu, J, Yin, L, Chandler, JH orcid.org/0000-0001-9232-4966 et al. (3 more authors) (2021) A Dual-bending Endoscope with Shape-lockable Hydraulic Actuation and Water-jet Propulsion for Gastrointestinal Tract Screening. The International Journal of Medical Robotics and Computer Assisted Surgery, 17 (1). pp. 1-13. ISSN 1478-5951
Abstract
A dual‐bending hydraulic endoscope with shape‐locking function to perform inexpensive gastric screening is developed in this study. The endoscope employs a custom microvalve to switch between hydraulic actuation of a spatial bending fluidic actuator and water‐jet actuation. Three alloy wires with buckle attachments are connected to a pneumatic balloon which facilitates reversible shape‐locking of the actuator, and thus supports stable scanning by water‐jet actuation. Experiments demonstrated a 58% increase in the workspace after introduction of the water‐jet. Stiffness tests of the shape‐locking mechanism revealed that the device in rigid state achieved more than three times the load‐locking ability of flexible state. Length of insertion tube is 600 mm, with a maximum outer diameter of 13 mm. Distal tip of the tube has an internal charge‐coupled device camera for inspection. The prototype was validated through phantom experiments, demonstrating the potential clinical value of the endoscope system.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 John Wiley & Sons Ltd. This is the peer reviewed version of the following article: Liu, J, Yin, L, Chandler, JH et al. (3 more authors) (2021) A Dual-bending Endoscope with Shape-lockable Hydraulic Actuation and Water-jet Propulsion for Gastrointestinal Tract Screening. The International Journal of Medical Robotics and Computer Assisted Surgery, 17 (1). pp. 1-13. ISSN 1478-5951, which has been published in final form at: https://doi.org/10.1002/rcs.2197. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. |
Keywords: | Robotic endoscopy; shape‐locking mechanism; microvalve; gastric cancer screening; water‐jet |
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 (Engineering and Physical Sciences Research Council) EP/P027938/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 03 Nov 2020 17:41 |
Last Modified: | 19 Jul 2022 11:04 |
Status: | Published |
Publisher: | Wiley |
Identification Number: | 10.1002/rcs.2197 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:167429 |