Towards Semi-Autonomous Colon Screening Using an Electromagnetically Actuated Soft-Tethered Colonoscope Based on Visual Servo Control.

Journal: IEEE transactions on bio-medical engineering
Published Date: Jan 1, 2024

Abstract

OBJECTIVE: Conventional colonoscopy using a flexible colonoscope remains two major limitations, including patient discomfort and difficult manipulations for surgeons. Robotic colonoscopes have been developed to conduct colonoscopy in a patient-friendly manner. However, most robotic colonoscopes still maintain nonintuitive and difficult manipulations, which limits their clinical applications. In this paper, we demonstrated visual servo-based semi-autonomous manipulations of an electromagnetic actuated soft-tethered (EAST) colonoscope, which aims to lower difficulties of robotic colonoscope manipulations.

Authors

  • Yehui Li
  • Wing Yin Ng
    Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong.
  • Weibing Li
    College of Information Science and Engineering, Jishou University, Jishou 416000, China.
  • Yisen Huang
  • Heng Zhang
    Department of Gastroenterology, The Central Hospital of Wuhan, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China.
  • Yitian Xian
  • Jixiu Li
  • Yichong Sun
  • Philip Wai Yan Chiu
  • Zheng Li
    Department of Integrated Pulmonology, Fourth Clinical Medical College of Xinjiang Medical University, Urumqi, Xinjiang, China.

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