Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.
Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.
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DOI：
10.3389/frobt.2022.854081
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发表时间：
2022
影响因子：
3.4
通讯作者：
Valdastri P
中科院分区：
文献类型：
--
作者：
Barducci L;Scaglioni B;Martin J;Obstein KL;Valdastri P
在过去的十年中，磁致动机器人在医疗内窥镜检查中越来越受欢迎。尽管在自主性和控制方法方面有了显著的改进，但医用磁内窥镜领域的进展主要是在增强导航领域。活检、息肉切除和金属夹放置等介入性任务是内窥镜检查的主要程序组成部分。由于在介入任务中充分控制和稳定磁致动内窥镜的问题，该领域几乎没有取得进展。在本文中，我们讨论了一种新的基于模型的线性变参数（LPV）控制方法，以提供稳定性，在介入演习。该方法将外部致动系统和内窥镜之间的非线性动态相互作用线性化为一组平衡，与磁源和内窥镜之间的不同距离相关联，并为每个平衡计算不同的控制器。这种方法提供了整个系统的全局稳定性和对外部干扰的鲁棒性。LPV方法的性能进行了比较，智能遥操作控制方法（基于比例积分微分（PID）控制器），在磁性柔性内窥镜（MFE）平台。在结肠的不同区域和两个不同的系统平衡下进行四次活检。要求两个控制器在存在外部干扰（即，通过内窥镜的工作通道引入活检钳）的情况下稳定内窥镜。在台式结肠模拟器中进行的实验显示，与PID控制器相比，LPV控制的内窥镜的平均定向误差最大减少45.8%。
Magnetically actuated robots have become increasingly popular in medical endoscopy over the past decade. Despite the significant improvements in autonomy and control methods, progress within the field of medical magnetic endoscopes has mainly been in the domain of enhanced navigation. Interventional tasks such as biopsy, polyp removal, and clip placement are a major procedural component of endoscopy. Little advancement has been done in this area due to the problem of adequately controlling and stabilizing magnetically actuated endoscopes for interventional tasks. In the present paper we discuss a novel model-based Linear Parameter Varying (LPV) control approach to provide stability during interventional maneuvers. This method linearizes the non-linear dynamic interaction between the external actuation system and the endoscope in a set of equilibria, associated to different distances between the magnetic source and the endoscope, and computes different controllers for each equilibrium. This approach provides the global stability of the overall system and robustness against external disturbances. The performance of the LPV approach is compared to an intelligent teleoperation control method (based on a Proportional Integral Derivative (PID) controller), on the Magnetic Flexible Endoscope (MFE) platform. Four biopsies in different regions of the colon and at two different system equilibria are performed. Both controllers are asked to stabilize the endoscope in the presence of external disturbances (i.e. the introduction of the biopsy forceps through the working channel of the endoscope). The experiments, performed in a benchtop colon simulator, show a maximum reduction of the mean orientation error of the endoscope of 45.8% with the LPV control compared to the PID controller.
影响因子：
3.7
作者：
Lee HC;Jung CW;Kim HC
通讯作者：
Kim HC