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Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

Authors
 Jaehong Woo  ;  Jae Hyuk Choi  ;  Jong Tae Seo  ;  Tae Il Kim  ;  Byung-Ju Yi 
Citation
 YONSEI MEDICAL JOURNAL, Vol.58(1) : 139-143, 2017 
Journal Title
 YONSEI MEDICAL JOURNAL 
ISSN
 0513-5796 
Issue Date
2017
MeSH
Algorithms* ; Colonoscopes ; Colonoscopy/instrumentation ; Colonoscopy/methods* ; Equipment Design ; Feedback* ; Humans ; Robotics/methods* ; Torque
Keywords
Colonoscopy ; endoscopy ; haptic ; robotics
Abstract
PURPOSE: Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. MATERIALS AND METHODS: The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. RESULTS: A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. CONCLUSION: This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.
Files in This Item:
T201703299.pdf Download
DOI
10.3349/ymj.2017.58.1.139
Appears in Collections:
1. College of Medicine (의과대학) > Dept. of Internal Medicine (내과학교실) > 1. Journal Papers
Yonsei Authors
Kim, Tae Il(김태일) ORCID logo https://orcid.org/0000-0003-4807-890X
URI
https://ir.ymlib.yonsei.ac.kr/handle/22282913/160775
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