Gastric Cancer Screening in Low-Income Countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure

Campisano, Federico; Gramuglia, Francesco; Dawson, Imro R.; Lyne, Christopher T.; Izmaylov, Michelle; Misra, Sarthak; Momi, Elena De; Morgan, Douglas R.; Obstein, Keith L.; Valdastri, Pietro

doi:10.1109/mra.2017.2673852

Cited by 20 publications

(33 citation statements)

References 17 publications

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“…The HydroJet Endoscopic Device (HJ) was introduced in [25]. It is a soft continuum endoscope that addresses the need for upper GI cancer screening in Low and Middle Income Countries (LMIC) and remote areas.…”

Section: Case Study: the Hydrojet Systemmentioning

confidence: 99%

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Campisano

Remirez

Caló

et al. 2020

IEEE Robot. Autom. Lett.

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Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Independent of the design, kinematic models need to be calibrated to best describe the deformation of the manipulator. However, even after calibration, unmodeled effects such as friction, nonlinear elastic and/or spatially varying material properties as well as manufacturing imprecision reduce the accuracy of these models.In this paper, we present a method for improving the accuracy of kinematic models of continuum manipulators through the incorporation of orientation sensor feedback. We achieve this through the use of a "disturbance wrench", which is used to compensate for these unmodeled effects, and is continuously estimated based on orientation sensor feedback as the robot moves through its workspace. The presented method is applied to the HydroJet, a waterjet-actuated soft continuum manipulator, and shows an average of 40% reduction in root mean square position and orientation error in the two most common types of kinematic models for continuum manipulators, a Cosserat rod model and a pseudo-rigid body model.

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Section: Case Study: the Hydrojet Systemmentioning

confidence: 99%

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Campisano

Remirez

Caló

et al. 2020

IEEE Robot. Autom. Lett.

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“…The HydroJet system [16], [17], [8], shown in Figure 11, consists primarily of a disposable capsule attached to the end of a soft multi-lumen catheter, which is used to carry pressurized water from the control system to the capsule. The flow-rate of the three pressure lines has previously been controlled independently through electronic actuation of a linespecific pinch valves (MPPV-2, Resolution Air, USA), [8]. As illustrated in Figure 11, three nozzles, placed on the capsule's body at an even 120 • spacing, facilitate ejection of pressurized water; thereby inducing movement in the capsule as a result of the generated jet thrust T…”

Section: A the Hydrojet Platformmentioning

confidence: 99%

“…Research into soft robot based applications for augmenting the capabilities of traditional robots [2] and for environmental exploration [3], [4], [5] is common, however, one of the most prevalent areas of interest for soft robotics is within medical applications [6]. Devices have been developed for Minimally Invasive Surgery (MIS) [7], endoscopy [8], heart assistance [9] and rehabilitation [10].…”

Section: Introductionmentioning

confidence: 99%

“…The presented work evaluates our novel ECV performance against standard pinch valves in terms of volumetric flow-rate characteristics over repeated actuation cycles. For the purpose of this manuscript, the valve efficacy was demonstrated by using an optimized ECV to control the medical device known as the HydroJet: a portable water jet actuated capsule endoscope [8], [16]. Comparison of the ECV relative to pinch and solenoid valves under cyclic actuation of the HydroJet is presented and highlights improved flow-rate tracking and reduced flow-rate fluctuation.…”

Section: Introductionmentioning

confidence: 99%

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A Compression Valve for Sanitary Control of Fluid-Driven Actuators

Caló

Chandler

Campisano

et al. 2020

IEEE/ASME Trans. Mechatron.

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With significant research focused on integrating robotics into medical devices, sanitary control of pressurizing fluids in a precise, accurate and customizable way is highly desirable. Current sanitary flow control methods include pinch valves which clamp the pressure line locally to restrict fluid flow; resulting in damage and variable flow characteristics over time. This paper presents a sanitary compression valve based on an eccentric clamping mechanism. The proposed valve distributes clamping forces over a larger area, thereby reducing the plastic deformation and associated influence on flow characteristic. Using the proposed valve, significant reductions in plastic deformation (up to 96%) and flow-rate error (up to 98%) were found, when compared with a standard pinch valve. Additionally, an optimization strategy presents a method for improving linearity and resolution over the working range to suit specific control applications. The valve efficacy has been evaluated through controlled testing of a water jet propelled low-cost endoscopic device. In this case, use of the optimized valve shows a reduction in the average orientation error and its variation, resulting in smoother movement of the endoscopic tip when compared to alternative wet and dry valve solutions. The presented valve offers a customizable solution for sanitary control of fluid driven actuators.

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“…A low-cost platform for inexpensive gastric screening has previously been demonstrated using a water-jet-based mechanism. 5,6 A parallel line configuration with flexible tubes was embedded into a flexible body. This design results in some limitations such as an unstable platform and unchangeable stiffness.…”

Section: Introductionmentioning

confidence: 99%

Water-jet outer sheath with braided shape memory polymer tubes for upper gastrointestinal tract screening

Yin

Wang

Zuo

2018

Int J Med Robotics Comput Assist Surg

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Gastric Cancer Screening in Low-Income Countries: System Design, Fabrication, and Analysis for an Ultralow-Cost Endoscopy Procedure

Cited by 20 publications

References 17 publications

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

A Compression Valve for Sanitary Control of Fluid-Driven Actuators

Water-jet outer sheath with braided shape memory polymer tubes for upper gastrointestinal tract screening

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