Highly Flexible Endoscopic Robots: Design, Modelling, and Interaction Control
Lead Research Organisation:
King's College London
Department Name: Imaging & Biomedical Engineering
Abstract
The project seeks to develop a new kind of robotic endoscope for use in endoscopy which will improve patient comfort and diagnostic accuracy. Traditional endoscopes consist of a passively flexible tube with a steerable camera at the distal end. These traditional instruments rely on the endoscopist manually pushing the scope through the patient's oesophagus or colon, causing significant discomfort. This discomfort is believed to be the cause of a large proportion of patients not attending regular bowel screenings, which are the best and simplest way of preventing bowel cancer. Creating a more comfortable endoscope could improve the rate of participation in screenings and thus reduce the incidence of bowel cancer.
Specifically, the project will initially focus on developing a soft, worm-like robot that is able to manoeuvre inside compliant environments, such as those found inside the human body. The device must be soft to minimise patient discomfort but must also be able to exert sufficient force for locomotion and camera orientation.
Modelling of the robot's interaction with the environment will be carried out in order to optimise the potential trade-off between the device's manoeuvrability and patient comfort level. This will involve examining the forces exerted by the robot and developing techniques to effectively control them.
Specifically, the project will initially focus on developing a soft, worm-like robot that is able to manoeuvre inside compliant environments, such as those found inside the human body. The device must be soft to minimise patient discomfort but must also be able to exert sufficient force for locomotion and camera orientation.
Modelling of the robot's interaction with the environment will be carried out in order to optimise the potential trade-off between the device's manoeuvrability and patient comfort level. This will involve examining the forces exerted by the robot and developing techniques to effectively control them.
Organisations
People |
ORCID iD |
Hongbin Liu (Primary Supervisor) | |
Julius Bernth (Student) |
Publications
Bernth J
(2018)
Morphological computation in haptic sensation and interaction: from nature to robotics
in Advanced Robotics
Bernth J
(2017)
A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy
in IEEE Robotics and Automation Letters
Studentship Projects
Project Reference | Relationship | Related To | Start | End | Student Name |
---|---|---|---|---|---|
EP/N509498/1 | 30/09/2016 | 29/09/2021 | |||
1805783 | Studentship | EP/N509498/1 | 30/09/2016 | 29/09/2019 | Julius Bernth |
Description | We have developed a single-use, self crawling endoscope. This will make it easier, safer and less expensive for doctors to perform colonoscopies for screening colorectal cancer. Furthermore, the device's design allows it to be deployed in small clinics, rather than only in specialised units, typically only found in major hospitals. This has the potential to increase the availability of colon cancer screening and thus increase the ability to prevent colorectal cancer before it requires major treatment. |
Exploitation Route | Doctors would use this device to perform colonoscopy. |
Sectors | Healthcare |
Description | LoCoMoTE: Low Cost Morphable Teleoperated Endoscope for Gastric Intestinal Tract Screening |
Amount | £996,825 (GBP) |
Funding ID | EP/R013977/1 |
Organisation | Engineering and Physical Sciences Research Council (EPSRC) |
Sector | Public |
Country | United Kingdom |
Start | 02/2018 |
End | 01/2021 |
Title | A ROBOTIC DEVICE |
Description | The present invention provides a robotic locomotive device (1) that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure (200), for example, the human colon, or any structure comprising two opposing walls (202, 204). In this respect, the device is made up of two or three segments (102, 104, 106) covered in an elastic material and driven by an internal actuating mechanism. All of the segments (102, 104, 106) have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments (102, 106) is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls (202, 204) of the tubular structure (200). That is, the end segments (102, 106) are capable of both a bending action and a contracting and extending action. The device (1) moves by alternately jamming a segment (102, 104, 106) between the walls (202, 204) of the tubular structure (200), and then contracting or extending the segments (102, 104, 106) to inch the device (1) forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device. |
IP Reference | WO2018154326 |
Protection | Patent granted |
Year Protection Granted | 2018 |
Licensed | No |
Impact | We are attempting to form a spin out company based on this patent. |