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A Sigmoid-Colon-Straightening Soft Actuator With Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon
- Source :
- IEEE Robotics and Automation Letters. 6:3577-3584
- Publication Year :
- 2021
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2021.
-
Abstract
- A colonoscopy is the most typical method to inspect for colorectal cancer; however, inserting colonoscopes in nonfixed sites, such as the sigmoid colon, requires very skilled insertion techniques. Since the sigmoid colon is one of the most difficult nonfixed sites for insertion, straightening it is a major step in colonoscopy. Previous studies have proposed various methods to assist the colonoscopy insertion process, but there are still challenges that must be addressed in clinical environments. The goal of this study was to assist colonoscopy operators to straighten the sigmoid colon using peristaltic motions generated with a soft actuator mounted on a commercial colonoscope. The peristaltic motions of the proposed system were combined with expanding and extending behaviors, and the straightening strategy was defined based on the analysis of the sigmoid colon handling process of colonoscopy. The peristaltic motions of the soft actuator were implemented using two balloons and a tendon-sheath mechanism. The colon shortening speed was measured to be about 80 mm/min, which contributed to the straightening of the sigmoid colon, thereby helping significantly with the process of colonoscopy.
- Subjects :
- Control and Optimization
medicine.diagnostic_test
Computer science
Colorectal cancer
Mechanical Engineering
Soft actuator
Biomedical Engineering
Colonoscopy
Sigmoid colon
medicine.disease
Colonoscopes
Computer Science Applications
Human-Computer Interaction
03 medical and health sciences
0302 clinical medicine
medicine.anatomical_structure
Artificial Intelligence
Control and Systems Engineering
030220 oncology & carcinogenesis
medicine
030211 gastroenterology & hepatology
Computer Vision and Pattern Recognition
Actuator
Biomedical engineering
Peristalsis
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 6
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi...........69491a8d79b7b86d031202fb8cda7204