Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy
Colonoscopy plays a pivotal role in early colorectal disease detection. It is hindered by procedural difficulties such as friction between colonoscope and colon wall as well as maneuverability issues. Expanding robots offer a promising alternative, aiming for a reduced risk of tissue damage and redu...
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| Format: | Article |
| Language: | English |
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De Gruyter
2024-12-01
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| Series: | Current Directions in Biomedical Engineering |
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| Online Access: | https://doi.org/10.1515/cdbme-2024-2045 |
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| _version_ | 1850283475457802240 |
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| author | Dinkel Johanna Weinmann Denise Pott Peter P. Schäfer Max B. |
| author_facet | Dinkel Johanna Weinmann Denise Pott Peter P. Schäfer Max B. |
| author_sort | Dinkel Johanna |
| collection | DOAJ |
| description | Colonoscopy plays a pivotal role in early colorectal disease detection. It is hindered by procedural difficulties such as friction between colonoscope and colon wall as well as maneuverability issues. Expanding robots offer a promising alternative, aiming for a reduced risk of tissue damage and reduced forces between colononscope and tissue. In this paper, the usage of expanding locomotion for colonoscopy is investigated to address technical challenges. Preliminary tests on a custom-designed test rig demonstrate the potential of intermitted advancement and retraction modes to overcome challenges such as the difference in pathlength of robot body and working channel as well as the typical buckling during retraction of expanding robots. Future research will focus on refining control systems based on sensor feedback and evaluating additional parameters for clinical application. |
| format | Article |
| id | doaj-art-2ebb660ad24940b38c1c46e2e39da828 |
| institution | OA Journals |
| issn | 2364-5504 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj-art-2ebb660ad24940b38c1c46e2e39da8282025-08-20T01:47:46ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042024-12-0110418719010.1515/cdbme-2024-2045Pressure Modulation Improves Locomotion of an Expanding Robot for ColonoscopyDinkel Johanna0Weinmann Denise1Pott Peter P.2Schäfer Max B.3Institute of Medical Device Technology, University of Stuttgart, Pfaffenwaldring 9,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart,Stuttgart, GermanyColonoscopy plays a pivotal role in early colorectal disease detection. It is hindered by procedural difficulties such as friction between colonoscope and colon wall as well as maneuverability issues. Expanding robots offer a promising alternative, aiming for a reduced risk of tissue damage and reduced forces between colononscope and tissue. In this paper, the usage of expanding locomotion for colonoscopy is investigated to address technical challenges. Preliminary tests on a custom-designed test rig demonstrate the potential of intermitted advancement and retraction modes to overcome challenges such as the difference in pathlength of robot body and working channel as well as the typical buckling during retraction of expanding robots. Future research will focus on refining control systems based on sensor feedback and evaluating additional parameters for clinical application.https://doi.org/10.1515/cdbme-2024-2045robot-assisted colonoscopyendoscopyexpanding roboteverting robotgrowing robot |
| spellingShingle | Dinkel Johanna Weinmann Denise Pott Peter P. Schäfer Max B. Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy Current Directions in Biomedical Engineering robot-assisted colonoscopy endoscopy expanding robot everting robot growing robot |
| title | Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy |
| title_full | Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy |
| title_fullStr | Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy |
| title_full_unstemmed | Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy |
| title_short | Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy |
| title_sort | pressure modulation improves locomotion of an expanding robot for colonoscopy |
| topic | robot-assisted colonoscopy endoscopy expanding robot everting robot growing robot |
| url | https://doi.org/10.1515/cdbme-2024-2045 |
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