Martin James W, Barducci Lavinia, Scaglioni Bruno, Norton Joseph C, Winters Conchubhair, Subramanian Venkataraman, Arezzo Alberto, Obstein Keith L, Valdastri Pietro
STORM Lab UK, University of Leeds, Leeds, UK.
Leeds Teaching Hospitals NHS Trust, St James's University Hospital, Leeds, UK.
IEEE Trans Med Robot Bionics. 2022 Aug;4(3):599-607. doi: 10.1109/TMRB.2022.3187028. Epub 2022 Jun 29.
Magnetically actuated endoscopes are currently transitioning in to clinical use for procedures such as colonoscopy, presenting numerous benefits over their conventional counterparts. Intelligent and easy-to-use control strategies are an essential part of their clinical effectiveness due to the un-intuitive nature of magnetic field interaction. However, work on developing intelligent control for these devices has mainly been focused on general purpose endoscope navigation. In this work, we investigate the use of autonomous robotic control for magnetic colonoscope intervention via biopsy, another major component of clinical viability. We have developed control strategies with varying levels of robotic autonomy, including semi-autonomous routines for identifying and performing targeted biopsy, as well as random quadrant biopsy. We present and compare the performance of these approaches to magnetic endoscope biopsy against the use of a standard flexible endoscope on bench-top using a colonoscopy training simulator and silicone colon model. The semi-autonomous routines for targeted and random quadrant biopsy were shown to reduce user workload with comparable times to using a standard flexible endoscope.
磁驱动内窥镜目前正逐渐过渡到临床应用，用于结肠镜检查等程序，与传统内窥镜相比具有诸多优势。由于磁场相互作用的性质不直观，智能且易于使用的控制策略是其临床有效性的重要组成部分。然而，针对这些设备开发智能控制的工作主要集中在通用内窥镜导航上。在这项工作中，我们研究了通过活检对磁控结肠镜进行自主机器人控制的应用，活检是临床可行性的另一个主要组成部分。我们已经开发了具有不同程度机器人自主性的控制策略，包括用于识别和进行靶向活检的半自主程序以及随机象限活检。我们使用结肠镜检查训练模拟器和硅胶结肠模型，在实验台上展示并比较了这些磁内窥镜活检方法与使用标准柔性内窥镜的性能。结果表明，靶向和随机象限活检的半自主程序在与使用标准柔性内窥镜相当的时间内减少了用户工作量。
