NDLI: Modeling and control of a colonoscopic tip under disturbance of the insertion of colonoscope

Content Provider	IEEE Xplore Digital Library
Author	Chen, G. Thomann, G. Pham, M.T. Betemps, M. Redarce, T.
Copyright Year	2004
Description	Author affiliation: Laboratoire d'Automatique Industrielle, Villeurbanne, France (Chen, G.; Thomann, G.; Pham, M.T.; Betemps, M.; Redarce, T.)
Abstract	During the conventional procedure of the colonoscopy, there are two important movements, the introduction of colonoscope in the colon and the maneuver of the distal end. In this paper, the authors focus on a new type of automatic bendable tip while keeping the advance of the colonoscope in the colon by endoscopist. The main purpose of this tip is to make the colonoscope overcome acute intestinal bends and make easier the progression of the colonoscope for the surgeon. Firstly, we model our current prototype tip, named EDORA (distal extremity with automatic orientation). Next, the parameters of the system are estimated by using the Levenberg-Margquardt's algorithm. Finally, by using the maximum of the sensitivity function a gain margin specification is made. A set point for a position controller is designed, thus the tip can stay in the middle of the colon with disturbance rejection due to the manipulation of the colonoscope. In the same time, this controller has been designed to make the tip have some degrees of compliance to reduce the contact force due to the undesirable contact with the colon. Simulation and experimental results for the controller would be presented by emulating the real environments.
Starting Page	3315
Ending Page	3320
File Size	422190
Page Count	6
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389928
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Colon Colonoscopy Intestines Surges Oncological surgery Force control Cancer detection Digestive system Minimally invasive surgery Prototypes
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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