A Modular Endoscopy Simulation Apparatus (MESA) for Robotic Medical Device Sensing and Control Validation
A Modular Endoscopy Simulation Apparatus (MESA) for Robotic Medical Device Sensing and Control Validation
复制标题
用于机器人医疗设备传感和控制验证的模块化内窥镜模拟装置 (MESA)
DOI：
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发表时间：
2018
影响因子：
5.2
通讯作者：
M. Rentschler
中科院分区：
文献类型：
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作者：
Gregory A. Formosa;J. M. Prendergast;Jinghui Peng;D. Kirkpatrick;M. Rentschler
许多正在进行的机器人内窥镜研究都集中在运动上，只有有限的探索反馈控制和自主性的非常规和动态的体内环境。这封信提出了一个模块化的内窥镜模拟装置（梅萨），以快速，经济实惠，并重复测试新的机器人内窥镜控制方案在一个可访问的规模在合成结肠。梅萨允许复制当前医疗机器人技术的许多常见生理障碍，例如干扰、患者位置变化、结肠角度和动态视觉环境。梅萨将允许研究团队快速反复验证新的控制策略，以在昂贵的体内程序测试之前最大限度地减少这些生理屏障的影响。本信中描述的梅萨平台和合成结肠已经成功复制了结肠几何形状、视觉外观、蠕动波速度和压力以及患者运动的干扰。用于合成结肠的模具是分段构建的，以允许未来模具的几何形状变化，并且已经显示出与来自结肠镜检查的体内图像的显著相似性。为各种可控阶段选择的致动器已被证明有足够的功率来产生手术期间预期的最大情况干扰，并且阶段在结构上是模块化的，以允许各种测试场景。可充气橡胶管和电子螺线管阀用于产生收缩力，并且已经显示出再现生理运动的过度能力。这里介绍的模拟器将有助于未来的反馈控制，定位和自主开发机器人内窥镜。
Much of ongoing robotic endoscope research is focused on locomotion, with only limited exploration into feedback control and autonomy in the unconventional and dynamic in vivo environment. This letter presents a modular endoscopy simulation apparatus (MESA) to quickly, affordably, and repeatedly test novel robotic endoscope control schemes in a synthetic colon at an accessible scale. The MESA allows for replication of many common physiologic barriers for current medical robotics, such as disturbances, patient positional changes, angulation of the colon, and a dynamic visual environment. The MESA will allow research teams to quickly and repeatedly validate new control strategies to minimize the effect of these physiological barriers before testing in costly in vivo procedures. The MESA platform and synthetic colon described in this letter have shown successful replication of colon geometry, visual appearance, peristaltic wave speeds and pressures, and disturbances from patient movement. The mold for the synthetic colon was built in sections to allow for geometry changes for future molds and has shown marked similarity to in vivo images from colonoscopies. The actuators chosen for the various controllable stages have proven ample power to produce maximum-case disturbances expected during procedures, and the stages are modular in structure to allow for a variety of testing scenarios. Inflatable rubber tubes and electronic solenoid valves are used to produce contractile forces, and have shown excess capability to reproduce physiological motility. The simulator presented here will aid in future feedback control, localization, and autonomy development for robotic endoscopes.