Barducci, L, Scaglioni, B, Martin, J et al. (2 more authors) (2022) Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope. Frontiers in Robotics and AI, 9. 854081. ISSN 2296-9144
Abstract
Magnetically actuated robots have become increasingly popular in medical endoscopy over the past decade. Despite the significant improvements in autonomy and control methods, progress within the field of medical magnetic endoscopes has mainly been in the domain of enhanced navigation. Interventional tasks such as biopsy, polyp removal, and clip placement are a major procedural component of endoscopy. Little advancement has been done in this area due to the problem of adequately controlling and stabilizing magnetically actuated endoscopes for interventional tasks. In the present paper we discuss a novel model-based Linear Parameter Varying (LPV) control approach to provide stability during interventional maneuvers. This method linearizes the non-linear dynamic interaction between the external actuation system and the endoscope in a set of equilibria, associated to different distances between the magnetic source and the endoscope, and computes different controllers for each equilibrium. This approach provides the global stability of the overall system and robustness against external disturbances. The performance of the LPV approach is compared to an intelligent teleoperation control method (based on a Proportional Integral Derivative (PID) controller), on the Magnetic Flexible Endoscope (MFE) platform. Four biopsies in different regions of the colon and at two different system equilibria are performed. Both controllers are asked to stabilize the endoscope in the presence of external disturbances (i.e. the introduction of the biopsy forceps through the working channel of the endoscope). The experiments, performed in a benchtop colon simulator, show a maximum reduction of the mean orientation error of the endoscope of 45.8% with the LPV control compared to the PID controller.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 Barducci, Scaglioni, Martin, Obstein and Valdastri. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
Keywords: | medical device, magnetic robots control, endoscopes, robot control, autonomous systems |
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 EPSRC (Engineering and Physical Sciences Research Council) EP/V047914/1 Cancer Research UK C64904/A27744 National Institute of Health - NIH (PHS) 2R01EB018992-05 National Institute of Health - NIH (PHS) 6R01EB018992 EU - European Union 952118 EU - European Union 818045 |
Depositing User: | Symplectic Publications |
Date Deposited: | 22 Apr 2022 09:52 |
Last Modified: | 25 Jun 2023 22:57 |
Status: | Published |
Publisher: | Frontiers Media |
Identification Number: | 10.3389/frobt.2022.854081 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:185804 |