Highly Flexible Endoscopic Robots: Design, Modelling, and Interaction Control

高度灵活的内窥镜机器人：设计、建模和交互控制

• 批准号: 1805783
• 金额: --
• 依托单位: King's College London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2016
• 资助国家: 英国
• 起止时间: 2016 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-1805783
• 关键词: Highly; Flexible; Endoscopic; Robots; Design

The project seeks to develop a new kind of robotic endoscope for use in endoscopy which will improve patient comfort and diagnostic accuracy. Traditional endoscopes consist of a passively flexible tube with a steerable camera at the distal end. These traditional instruments rely on the endoscopist manually pushing the scope through the patient's oesophagus or colon, causing significant discomfort. This discomfort is believed to be the cause of a large proportion of patients not attending regular bowel screenings, which are the best and simplest way of preventing bowel cancer. Creating a more comfortable endoscope could improve the rate of participation in screenings and thus reduce the incidence of bowel cancer.Specifically, the project will initially focus on developing a soft, worm-like robot that is able to manoeuvre inside compliant environments, such as those found inside the human body. The device must be soft to minimise patient discomfort but must also be able to exert sufficient force for locomotion and camera orientation. Modelling of the robot's interaction with the environment will be carried out in order to optimise the potential trade-off between the device's manoeuvrability and patient comfort level. This will involve examining the forces exerted by the robot and developing techniques to effectively control them.

该项目旨在开发一种用于内窥镜检查的新型机器人内窥镜，这将提高患者的舒适度和诊断准确性。传统的内窥镜由一根被动柔性管组成，远端有一个可操纵的摄像头。这些传统仪器依靠内窥镜医师手动将内窥镜推入患者的食道或结肠，从而导致明显的不适。这种不适被认为是大部分患者不参加定期肠道筛查的原因，而定期肠道筛查是预防肠癌的最佳和最简单的方法。制造更舒适的内窥镜可以提高筛查的参与率，从而降低肠癌的发病率。具体来说，该项目最初将重点开发一种柔软的蠕虫状机器人，能够在合规环境中进行操作，例如那些发现于人体内部。该设备必须柔软，以尽量减少患者的不适，但也必须能够施加足够的力来移动和相机方向。将对机器人与环境的交互进行建模，以优化设备的可操作性和患者舒适度之间的潜在权衡。这将涉及检查机器人施加的力并开发有效控制它们的技术。

项目成果

Morphological computation in haptic sensation and interaction: from nature to robotics

• DOI: 10.1080/01691864.2018.1447393
• 发表时间: 2018-01-01
• 期刊: ADVANCED ROBOTICS
• 影响因子: 2
• 作者: Bernth, Julius E.;Van Anh Ho;Liu, Hongbin
• 通讯作者: Liu, Hongbin

Endoscope Force Generation and Intrinsic Sensing with Environmental Scaffolding

内窥镜力生成和内在传感与环境脚手架

• DOI: 10.1109/icra.2019.8793726
• 发表时间: 2019
• 作者: Bernth J

A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy

• DOI: 10.1109/lra.2017.2678540
• 发表时间: 2017-07-01
• 期刊: IEEE ROBOTICS AND AUTOMATION LETTERS
• 影响因子: 5.2
• 作者: Bernth, Julius E.;Arezzo, Alberto;Liu, Hongbin
• 通讯作者: Liu, Hongbin