Technical Brief

Preliminary Development of a Robust Multilink Modular Robotic System for Improvement of Colonoscopy Intubation Process1

[+] Author and Article Information
Kaiqiang Liu, Corey D. Sheerer

Department of Mechanical Engineering,
Ohio University,
Athens, OH 45701

Junghun Choi

Department of Mechanical Engineering
and Biomedical Engineering,
Ohio University,
Athens, OH 45701

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014. DOI: 10.1115/1.4027075

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030930 (Jul 21, 2014) (2 pages) Paper No: MED-14-1081; doi: 10.1115/1.4027075 History: Received February 21, 2014; Revised March 03, 2014

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Topics: Sensors , Robotics , Shapes
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Ravindra, V. K., 2012, “Evaluation of an Active Colonoscopy Training Model,” Master's thesis, Ohio University, Athens, OH.
Hsieh, Y. H., Zhou, A. L., and Lin, H. J., 2008, “Long Pediatric Colonoscope Versus Intermediate Length Adult Colonoscope for Colonoscopy,” J. Gastroenterol. Hepatol., 23(7), pp. e7–e10. [CrossRef] [PubMed]
Raju, G. S., Rex, D. K., Kozarek, R. A., Ahmed, I., Brining, D., and Pasricha, P. J., 2004, “A Novel Shape-Locking Guide for Prevention of Sigmoid Looping During Colonoscopy,” Gastrointest. Endosc., 59(3), pp. 416–419. [CrossRef] [PubMed]
Vucelic, B., Rex, D., Pulanic, R., Pfefer, J., Hrstic, I., Levin, B., Halpern, Z., and Arber, N., 2006, “The Aer-O-Scope: Proof of Concept of a Pneumatic, Skill-Independent, Self-Propelling, Self-Navigating Colonoscope,” Gastroenterology, 130(3), pp. 672–677. [CrossRef] [PubMed]
Phee, L., Accoto, D., Menciassi, A., Stefanini, C., Carrozza, M. C., and Dario, P., 2002, “Analysis and Development of Locomotion Devices for the Gastrointestinal Tract,” IEEE Trans. Biomed. Eng., 49(6), pp. 613–616. [CrossRef] [PubMed]


Grahic Jump Location
Fig. 1

3D model of the inner structure of one module, the tilt bracket conduct motion, and connects to other modules when necessary

Grahic Jump Location
Fig. 2

The distance between the three sensors on the distal module and the wall of the track, the track is divided into four parts known as intervals A–D; they are marked in Fig. 3(a), the total insertion time is 144 s, data collection frequency is 10 Hz

Grahic Jump Location
Fig. 3

Feasibility test in an open track, the scale of the track (mentioned in Sec. 2) is similar to human colon, four intervals, A–D marked in (a) are corresponding to those described in Fig. 2



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