IEEE International Conference on Robotics and Automation (ICRA) (2020): Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope
[video: https://youtu.be/w_Bfxgj0fF4]
Abstract: Robotic capsule endoscopes (RCEs) are being widely聽investigated to improve the state of various endoscopy procedures. This聽paper presents the novel design of a multi-DOF sensor-enabled RCE for聽colonoscopies (Endoculus) and evaluates porcine in vivo and ex vivo聽performance. The novelty of the design includes a custom 鈥渄ouble-worm鈥澛燿rive that removes axial gear forces while reducing radial moments, and聽the full parameterization of gear geometries allows for size minimization聽via an optimization routine over design constraints. Two independently聽controlled motors drive micro-pillared treads above and below the device聽allowing for 2-DOF skid-steering, even in a collapsed lumen. The聽Endoculus contains all functionality of a traditional endoscope: a camera,聽adjustable LEDs, channels for insufflation and irrigation, and a tool port聽for endoscopy instruments (e.g., forceps, snares, etc.). Additionally, the聽Endoculus carries an inertial measurement unit, magnetometer, motor聽encoders, and motor current sensors to aid in future autonomy strategies.聽Porcine surgical evaluation demonstrated locomotion up to 40 mm/s on the聽colon mucosa, 2-DOF steering, the ability to traverse haustral folds, and聽functionality of endoscopy tools. This platform will enable future聽validation of feedback control, localization, and mapping algorithms in the聽unconventional in vivo environment.
Formosa, G.A., Prendergast, J.M., Edmundowicz, S.A., Rentschler, M.E., 鈥Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope,鈥 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, June, 2020.
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