Robotic endoscopic capsule for closed-loop force-based control and safety strategies
| Autor: | Gastone Ciuti, Calogero Maria Oddo, Renato Caliò, Joan Ortega Alcaide, Paolo Dario, Maria Chiara Carrozza, Domenico Camboni, Arianna Menciassi |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
medicine.diagnostic_test
Computer science 010401 analytical chemistry Perforation (oil well) Capsule Stiffness Capsule endoscopes Endoscopy 01 natural sciences Endoscopic Procedure Palpation Endoscopy Robots Capsule endoscopes 0104 chemical sciences 03 medical and health sciences 0302 clinical medicine medicine 030211 gastroenterology & hepatology medicine.symptom Closed loop Robots Tactile sensor Simulation Gastrointestinal endoscopy |
| Zdroj: | 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS) CBS |
| Popis: | To implement safety measures and to increase effectiveness of navigation in gastrointestinal endoscopy, we have integrated a dense array of MEMS tactile sensors in a magnetically-driven robotic endoscopic capsule. With traditional endoscopic probes, the force applied to the gastrointestinal wall cannot be directly measured and controlled. The presented sensorized capsule will allow implementing strategies for preventing tissue damages and thus pain, discomfort or even perforation during colonoscopy. The sensors embedded onto the here presented capsule will allow for online force readout and a closed-loop force control for real-time safety strategy has been implemented. Moreover, fine force readout will enhance capsule navigation, allowing optimization of the contact condition and thus diminishing friction with the endoluminal wall. The presented system will be tested in the future to prove capabilities as tactile tool for remote palpation, providing the physician with texture and stiffness information during endoscopic procedure. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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