Semi-automatic Knob System for Assisting Flexible Endoscope Steering
In this paper, a semi-automatic knob system for assisting control of flexible endoscope is introduced. For conventional flexible endoscope, the torque to bend the bending part is increased proportionally to the curvature of the insertion tube. As the bending angle increases, the required torque is i...
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| Published in | International journal of control, automation, and systems Vol. 18; no. 10; pp. 2650 - 2657 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.10.2020
Springer Nature B.V 제어·로봇·시스템학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1598-6446 2005-4092 |
| DOI | 10.1007/s12555-019-0246-7 |
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| Abstract | In this paper, a semi-automatic knob system for assisting control of flexible endoscope is introduced. For conventional flexible endoscope, the torque to bend the bending part is increased proportionally to the curvature of the insertion tube. As the bending angle increases, the required torque is increased. This characteristic makes a surgeon tired. The proposed semi-automatic knob system consists of a knob controller, a power generation unit, and a bending part. The knob controller includes four FSR (force sensitive resistor) sensors to measure external force applied by the operator. The power generation unit generates the power depending on the signal level of FSR sensors. Using the semi-automatic knob system, a user can control the steering of the flexible endoscope with less power as compared to conventional flexible endoscope. The usefulness of the proposed system is verified through experiments. |
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| AbstractList | In this paper, a semi-automatic knob system for assisting control of flexible endoscope is introduced. For conventional flexible endoscope, the torque to bend the bending part is increased proportionally to the curvature of the insertion tube. As the bending angle increases, the required torque is increased. This characteristic makes a surgeon tired. The proposed semi-automatic knob system consists of a knob controller, a power generation unit, and a bending part. The knob controller includes four FSR (force sensitive resistor) sensors to measure external force applied by the operator. The power generation unit generates the power depending on the signal level of FSR sensors. Using the semi-automatic knob system, a user can control the steering of the flexible endoscope with less power as compared to conventional flexible endoscope. The usefulness of the proposed system is verified through experiments. In this paper, a semi-automatic knob system for assisting control of a flexible endoscope is introduced. For a conventional flexible endoscope, the torque to bend the bending part is increased proportionally to the curvature of the insertion tube. As the bending angle increases, the required torque is increased. This characteristic makes a surgeon tired. The proposed semi-automatic knob system consists of a knob controller, a power generation unit, and a bending part. The knob controller includes four FSR (force sensitive resistor) sensors to measure the external force applied by the operator. The power generation unit generates the power depending on the signal level of FSR sensors. Using the semi-automatic knob system, a user can control the steering of the flexible endoscope with less power as compared to the conventional flexible endoscope. The usefulness of the proposed system is verified through experiments. KCI Citation Count: 1 |
| Author | Yi, Byung-Ju Yoon, Hyun-Soo |
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| Cites_doi | 10.1007/s10544-006-9025-3 10.1002/rcs.386 10.3349/ymj.2017.58.1.139 10.1007/s00464-004-8213-6 10.1055/s-1999-146 10.1007/s00464-005-0219-1 10.1038/ajg.2009.249 10.1177/1553350609338181 10.1002/9781444316902 10.1007/s12555-019-0237-8 10.1016/j.gie.2008.12.235 10.1097/MCG.0b013e31817b0124 10.1109/BioRob.2012.6290272 |
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| Keywords | colorectal surgeon-assistant system flexible endoscope steering colonoscopy Admittance control |
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| References | Waye, Rex, Williams (CR2) 2009 Shergill, McQuaid, Rempel (CR3) 2009; 70 CR14 Hansel, Crowell, Pardi, Bouras, DiBaise (CR5) 2009; 43 Moglia, Menciassi, Schurr, Dario (CR9) 2007; 9 CR11 Tassios, Ladas, Grammenos, Demertzis, Raptis (CR13) 1999; 31 Sanaka, Deepinder, Thota, Lopez, Burke (CR4) 2009; 104 Allemann, Ott, Asakuma, Masson, Perretta, Dallemagne, Coumaros, Mathelin, Soler, Marescaux (CR7) 2009; 16 Reilink, Stramigioli, Kappers, Misra (CR8) 2011; 7 Woo, Choi, Seo, Kim, Yi (CR10) 2017; 58 Lee, Rafig, Merrell, Ackerman, Dennerlein (CR6) 2005; 19 Ryu, Woo, So, Yi (CR12) 2020; 18 Liberman, Shrier, Gordon (CR1) 2005; 19 R Reilink (246_CR8) 2011; 7 P Allemann (246_CR7) 2009; 16 246_CR14 A S Liberman (246_CR1) 2005; 19 246_CR11 P S Tassios (246_CR13) 1999; 31 M R Sanaka (246_CR4) 2009; 104 J D Waye (246_CR2) 2009 E C Lee (246_CR6) 2005; 19 H-T Ryu (246_CR12) 2020; 18 A K Shergill (246_CR3) 2009; 70 A Moglia (246_CR9) 2007; 9 S L Hansel (246_CR5) 2009; 43 J Woo (246_CR10) 2017; 58 |
| References_xml | – volume: 9 start-page: 235 issue: 2 year: 2007 end-page: 243 ident: CR9 article-title: Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems publication-title: Biomedical Microdevices doi: 10.1007/s10544-006-9025-3 – ident: CR14 – volume: 7 start-page: 178 issue: 2 year: 2011 end-page: 186 ident: CR8 article-title: Evaluation of flexible endoscope steering using haptic guidance publication-title: The International Journal of Medical Robotics and Computer Assisted Surgery doi: 10.1002/rcs.386 – volume: 58 start-page: 139 issue: 1 year: 2017 end-page: 143 ident: CR10 article-title: Development of a robotic colonoscopic manipulation system, using haptic feedbaack algorithm publication-title: Yonsei Medical Journal doi: 10.3349/ymj.2017.58.1.139 – ident: CR11 – volume: 19 start-page: 1064 issue: 8 year: 2005 end-page: 1070 ident: CR6 article-title: Ergonomics and human factors in endoscopic surgery: a comparison of manual vs telerobotic simulation systems publication-title: Surgical Endoscopy and Other Interventional Techniques doi: 10.1007/s00464-004-8213-6 – volume: 31 start-page: 702 issue: 9 year: 1999 end-page: 706 ident: CR13 article-title: Acquisition of competence in colonoscopy: the learning curve of trainees publication-title: Endoscopy doi: 10.1055/s-1999-146 – volume: 19 start-page: 1606 issue: 12 year: 2005 end-page: 1609 ident: CR1 article-title: Injuries sustained by colorectal surgeons performing colonoscopy publication-title: Surgical Endoscopy and Other Interventional Techniques doi: 10.1007/s00464-005-0219-1 – volume: 104 start-page: 1659 issue: 7 year: 2009 end-page: 1664 ident: CR4 article-title: Adenomas are detected more often in morning than in afternoon colonoscopy publication-title: The American Journal of Gastroenterology doi: 10.1038/ajg.2009.249 – volume: 16 start-page: 111 issue: 2 year: 2009 end-page: 116 ident: CR7 article-title: Joystick interfaces are not suitable for robotized endoscope applied to NOTES publication-title: Surgical Innovation doi: 10.1177/1553350609338181 – start-page: 537 year: 2009 end-page: 559 ident: CR2 article-title: Insertion technique publication-title: Colonoscopy: Principles and Practice doi: 10.1002/9781444316902 – volume: 18 start-page: 163 issue: 1 year: 2020 end-page: 174 ident: CR12 article-title: Shape and contact force estimation of inserted flexible medical device publication-title: International Journal of Control, Automation and Systems doi: 10.1007/s12555-019-0237-8 – volume: 70 start-page: 145 issue: 1 year: 2009 end-page: 153 ident: CR3 article-title: Ergonomics and GI endoscopy publication-title: Gastrointestinal Endoscopy doi: 10.1016/j.gie.2008.12.235 – volume: 43 start-page: 399 issue: 5 year: 2009 end-page: 404 ident: CR5 article-title: Prevalence and impact of musculoskeletal injury among endoscopists: a controlled pilot study publication-title: Journal of Clinical Gastroenterology doi: 10.1097/MCG.0b013e31817b0124 – volume: 70 start-page: 145 issue: 1 year: 2009 ident: 246_CR3 publication-title: Gastrointestinal Endoscopy doi: 10.1016/j.gie.2008.12.235 – volume: 104 start-page: 1659 issue: 7 year: 2009 ident: 246_CR4 publication-title: The American Journal of Gastroenterology doi: 10.1038/ajg.2009.249 – volume: 16 start-page: 111 issue: 2 year: 2009 ident: 246_CR7 publication-title: Surgical Innovation doi: 10.1177/1553350609338181 – ident: 246_CR14 – volume: 9 start-page: 235 issue: 2 year: 2007 ident: 246_CR9 publication-title: Biomedical Microdevices doi: 10.1007/s10544-006-9025-3 – ident: 246_CR11 doi: 10.1109/BioRob.2012.6290272 – volume: 18 start-page: 163 issue: 1 year: 2020 ident: 246_CR12 publication-title: International Journal of Control, Automation and Systems doi: 10.1007/s12555-019-0237-8 – volume: 19 start-page: 1606 issue: 12 year: 2005 ident: 246_CR1 publication-title: Surgical Endoscopy and Other Interventional Techniques doi: 10.1007/s00464-005-0219-1 – volume: 19 start-page: 1064 issue: 8 year: 2005 ident: 246_CR6 publication-title: Surgical Endoscopy and Other Interventional Techniques doi: 10.1007/s00464-004-8213-6 – volume: 58 start-page: 139 issue: 1 year: 2017 ident: 246_CR10 publication-title: Yonsei Medical Journal doi: 10.3349/ymj.2017.58.1.139 – volume: 31 start-page: 702 issue: 9 year: 1999 ident: 246_CR13 publication-title: Endoscopy doi: 10.1055/s-1999-146 – volume: 43 start-page: 399 issue: 5 year: 2009 ident: 246_CR5 publication-title: Journal of Clinical Gastroenterology doi: 10.1097/MCG.0b013e31817b0124 – volume: 7 start-page: 178 issue: 2 year: 2011 ident: 246_CR8 publication-title: The International Journal of Medical Robotics and Computer Assisted Surgery doi: 10.1002/rcs.386 – start-page: 537 volume-title: Colonoscopy: Principles and Practice year: 2009 ident: 246_CR2 doi: 10.1002/9781444316902 |
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| Snippet | In this paper, a semi-automatic knob system for assisting control of flexible endoscope is introduced. For conventional flexible endoscope, the torque to bend... In this paper, a semi-automatic knob system for assisting control of a flexible endoscope is introduced. For a conventional flexible endoscope, the torque to... |
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| SubjectTerms | Automatic control Bending Control Control systems Control Theory and Applications Controllers Electric power generation Endoscopes Engineering Mechatronics Robotics Sensors Steering Torque 제어계측공학 |
| Title | Semi-automatic Knob System for Assisting Flexible Endoscope Steering |
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