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Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function
Li YM(李言民); Liu H(刘浩); Hao SW(郝思文); Han JD(韩建达); Yang YS(杨云生)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
ISSN1478-5951
2017
Volume13Issue:1Pages:1-14
Indexed BySCI
WOS IDWOS:000398119200008
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China (Grant No. 61473281), the National Technology R&D Programme of China (Grant No. 2012BAI14B03) and the Self-plan Project of State Key Laboratory of Robotics (Grant No. 2016-Z06).
KeywordGastroscope Intervention Mechanism Circumferential Clamping Critical Slipping Force Shear Stiffness Fuzzy Pid Control
Abstract

Background: Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping. Methods: This paper presents a robotic system for a standard flexible endoscope and focuses on a novel gastroscope intervention mechanism (GIM), which provides circumferentially uniform clamping with an airbag. The GIM works with a relay-on mechanism in a way similar to manual operation. The shear stiffness of airbag and the critical slipping force (CSF) were analyzed to determine the parameters of the airbag. A fuzzy PID controller was employed to realize a fast response and high accuracy of pneumatic actuation. Experiments were performed to evaluate the accuracy, stiffness and CSF. In vitro and in vivo animal experiments were also carried out. Results: The GIM realized an accuracy of 0.025±0.2mm and –0.03±0.25° for push–pull and rotation without delivery resistance. Under <10N delivery resistance, the error caused by the airbag stiffness was <0.24mm. A quadratic polynomial could be used to describe the relationship between the CSF and pneumatic pressure. Conclusions: The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety.

Language英语
WOS HeadingsScience & Technology ; Life Sciences & Biomedicine
WOS SubjectSurgery
WOS KeywordColonoscope ; System
WOS Research AreaSurgery
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19725
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩); Yang YS(杨云生)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People’s Republic of China
2.University of Chinese Academy of Sciences, Beijing, People’s Republic of China
3.Department of Gastroenterology and Hepatology, Chinese PLA General Hospital, Beijing, People’s Republic of China
Recommended Citation
GB/T 7714
Li YM,Liu H,Hao SW,et al. Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,2017,13(1):1-14.
APA Li YM,Liu H,Hao SW,Han JD,&Yang YS.(2017).Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,13(1),1-14.
MLA Li YM,et al."Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 13.1(2017):1-14.
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