Kinematic Modeling and Visual Servo Control of a Soft-Bodied Magnetic Anchored and Guided Endoscope
In minimally invasive surgery (MIS), a number of instruments are inserted into the surgical cavity via the trocar(s), which makes the surgical site crowded and instruments tend to fence with each other. In addition, the motion of the endoscope is restricted by the trocar, which limits the field of v...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2020-06, Vol.25 (3), p.1531-1542 |
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| creator | Li, Weibing Cheng, Truman Ye, Minxin Ng, Calvin Sze Hang Chiu, Philip Wai Yan Li, Zheng |
| description | In minimally invasive surgery (MIS), a number of instruments are inserted into the surgical cavity via the trocar(s), which makes the surgical site crowded and instruments tend to fence with each other. In addition, the motion of the endoscope is restricted by the trocar, which limits the field of view of the endoscope. To alleviate these problems, magnetic anchored and guided systems (MAGSs) have been proposed. Conventional MAGSs are built from rigid materials with small actuators and sensors. As a result, these MAGSs tend to be heavy, complex, difficult to make, and costly. In this article, we first present a soft-bodied MAGS endoscope weighing 13 g, which is made up of printable silicon rubber with embedded magnets and a camera module. The usage of soft 3-D printable material significantly reduces the complexity of the MAGS endoscope. The soft-bodied MAGS endoscope can be anchored and steered by an external magnet controlled by a serial-link robot arm. The kinematic modeling of the soft-bodied MAGS endoscope is developed. Visual servo based automatic instruments tracking of the soft-bodied MAGS endoscope is achieved for the first time. Experimental results validate that the soft-bodied MAGS endoscope can guide surgical instruments, showing its high potentials in MIS. |
| doi_str_mv | 10.1109/TMECH.2020.2978538 |
| format | Article |
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In addition, the motion of the endoscope is restricted by the trocar, which limits the field of view of the endoscope. To alleviate these problems, magnetic anchored and guided systems (MAGSs) have been proposed. Conventional MAGSs are built from rigid materials with small actuators and sensors. As a result, these MAGSs tend to be heavy, complex, difficult to make, and costly. In this article, we first present a soft-bodied MAGS endoscope weighing 13 g, which is made up of printable silicon rubber with embedded magnets and a camera module. The usage of soft 3-D printable material significantly reduces the complexity of the MAGS endoscope. The soft-bodied MAGS endoscope can be anchored and steered by an external magnet controlled by a serial-link robot arm. The kinematic modeling of the soft-bodied MAGS endoscope is developed. Visual servo based automatic instruments tracking of the soft-bodied MAGS endoscope is achieved for the first time. Experimental results validate that the soft-bodied MAGS endoscope can guide surgical instruments, showing its high potentials in MIS.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/TMECH.2020.2978538</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Actuators ; Automatic control ; Cameras ; Cavity resonators ; Complexity ; Construction materials ; Endoscopes ; Field of view ; Instruments ; kinematic modeling ; Kinematics ; magnetic anchored and guided system (MAGS) ; Magnets ; Manipulators ; minimally invasive surgery (MIS) ; Modelling ; Robot arms ; Servocontrol ; soft-bodied endoscope ; Surgery ; Surgical instruments ; Three dimensional printing</subject><ispartof>IEEE/ASME transactions on mechatronics, 2020-06, Vol.25 (3), p.1531-1542</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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Experimental results validate that the soft-bodied MAGS endoscope can guide surgical instruments, showing its high potentials in MIS.</description><subject>Actuators</subject><subject>Automatic control</subject><subject>Cameras</subject><subject>Cavity resonators</subject><subject>Complexity</subject><subject>Construction materials</subject><subject>Endoscopes</subject><subject>Field of view</subject><subject>Instruments</subject><subject>kinematic modeling</subject><subject>Kinematics</subject><subject>magnetic anchored and guided system (MAGS)</subject><subject>Magnets</subject><subject>Manipulators</subject><subject>minimally invasive surgery (MIS)</subject><subject>Modelling</subject><subject>Robot arms</subject><subject>Servocontrol</subject><subject>soft-bodied endoscope</subject><subject>Surgery</subject><subject>Surgical instruments</subject><subject>Three dimensional printing</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kE1LAzEURQdRsFb_gG4Crqfms5Msa6mt2OKiVdyFTD7qlGlSkxnBf--MLa7e5XHPe3Cy7BbBEUJQPGxWs-lihCGGIywKzgg_ywZIUJRDRD_Ouww5ySkl7DK7SmkHIaQIokGmXypv96qpNFgFY-vKb4HyBrxXqVU1WNv4HcA0-CaGGgQHFFgH1-SPwVTWgJXaetuzE68_Q-w2PTtvK9PFmTch6XCw19mFU3WyN6c5zN6eZpvpIl--zp-nk2WusWBNriCmhFDMqKBa8cJx7jhjTlOmSlgSR4qSOaUE5sQWxDCizZhQY5EpleaCDLP7491DDF-tTY3chTb67qXEFFFGiOCoa-FjS8eQUrROHmK1V_FHIih7mfJPpuxlypPMDro7QpW19h8QEI-LMSO_erhwLg</recordid><startdate>202006</startdate><enddate>202006</enddate><creator>Li, Weibing</creator><creator>Cheng, Truman</creator><creator>Ye, Minxin</creator><creator>Ng, Calvin Sze Hang</creator><creator>Chiu, Philip Wai Yan</creator><creator>Li, Zheng</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| ispartof | IEEE/ASME transactions on mechatronics, 2020-06, Vol.25 (3), p.1531-1542 |
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| subjects | Actuators Automatic control Cameras Cavity resonators Complexity Construction materials Endoscopes Field of view Instruments kinematic modeling Kinematics magnetic anchored and guided system (MAGS) Magnets Manipulators minimally invasive surgery (MIS) Modelling Robot arms Servocontrol soft-bodied endoscope Surgery Surgical instruments Three dimensional printing |
| title | Kinematic Modeling and Visual Servo Control of a Soft-Bodied Magnetic Anchored and Guided Endoscope |
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