A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform

Wireless capsule endoscopy offers significant advantages compared with traditional endoscopic procedures, since it limits the invasiveness of gastrointestinal tract screening and diagnosis. Moreover, active locomotion devices would allow endoscopy to be performed in a totally controlled manner, avoiding failures in the correct visualization of pathologies. Previous works demonstrated that magnetic locomotion through a robotic-aided platform would allow us to reach this goal reliably. In this paper, the authors present a comparative evaluation of control methodologies and user interfaces for a robotic-aided magnetic platform for capsule endoscopy, controlled through human-robot cooperative and teleoperated control algorithms. A detailed statistical analysis of significant control parameters was performed: teleoperated control is the more reliable control approach, and a serial kinematic haptic device results as the most suitable control interface to perform effective robotic-aided endoscopic procedures.

[1]  Paolo Dario,et al.  Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures , 2009, Robotica.

[2]  J.-Y. Bouguet,et al.  Pyramidal implementation of the lucas kanade feature tracker , 1999 .

[3]  Blake Hannaford,et al.  Smart surgical tools and augmenting devices , 2003, IEEE Trans. Robotics Autom..

[4]  P. Dario,et al.  Robotic versus manual control in magnetic steering of an endoscopic capsule. , 2009, Endoscopy.

[5]  P. Dario,et al.  Capsule endoscopy: progress update and challenges ahead , 2009, Nature Reviews Gastroenterology &Hepatology.

[6]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[7]  Tom Fawcett,et al.  An introduction to ROC analysis , 2006, Pattern Recognit. Lett..

[8]  Louis Phee,et al.  A review of master-slave robotic systems for surgery , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[9]  Mutsumi Watanabe,et al.  Moving obstacle detection using residual error of FOE estimation , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[10]  Andrew Zisserman,et al.  Texture classification: are filter banks necessary? , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[11]  Paolo Dario,et al.  A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments , 2009, IEEE Transactions on Robotics.

[12]  N. Franceschini,et al.  From insect vision to robot vision , 1992 .

[13]  Thomas S Collett,et al.  Insect Vision: Controlling Actions through Optic Flow , 2002, Current Biology.

[14]  M. V. Velzen,et al.  Self-organizing maps , 2007 .

[15]  Min-Gyu Kim,et al.  Position and orientation detection of capsule endoscopes in spiral motion , 2010 .

[16]  Michael Talcott,et al.  Magnetically Controllable Gastrointestinal Steering of Video Capsules , 2011, IEEE Transactions on Biomedical Engineering.

[17]  Guido C. H. E. de Croon,et al.  The appearance variation cue for obstacle avoidance , 2012, 2010 IEEE International Conference on Robotics and Biomimetics.

[18]  Peter Kazanzides,et al.  Surgical and Interventional Robotics: Part III: Surgical Assistance Systems. , 2008, IEEE robotics & automation magazine.

[19]  S. Wexner,et al.  A prospective analysis of 13,580 colonoscopies , 2001, Surgical Endoscopy.

[20]  Takeo Kanade,et al.  An Iterative Image Registration Technique with an Application to Stereo Vision , 1981, IJCAI.

[21]  Peter Kazanzides,et al.  Development and Application of a New Steady-Hand Manipulator for Retinal Surgery , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[22]  Sang Joon Kim,et al.  A Mathematical Theory of Communication , 2006 .

[23]  Peter Kazanzides,et al.  Surgical and interventional robotics: part III [Tutorial] , 2008, IEEE Robotics Autom. Mag..

[24]  J. Rey,et al.  Feasibility of stomach exploration with a guided capsule endoscope. , 2010, Endoscopy.

[25]  Paolo Dario,et al.  Modeling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon , 2004, Int. J. Robotics Res..