A compact control unit for a pneumatic soft colonoscope

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Colorectal cancer is the third most common cause of cancer death worldwide. A regular screening of the asymptomatic population can drastically reduce the cancer mortality. Colonoscopy remains the gold standard procedure, however, it causes pain, discomfort and it is expensive. The procedure is difficult and requires a long training for a colonoscopist to become proficient. A robotic soft colonoscope can provide an alternative solution to the current procedure because of the reduced pressure applied to the colonic wall that can potentially avoid pain and discomfort. The low production cost of soft devices can make the procedure cost effective. The control of a pneumatic system is usually implemented by using off-the shelf components. This typology of design is often bulky, may be noisy, and expensive. This work presents a wireless and compact hardware to control a soft pneumatic colonoscope. The hardware includes a low-level PID pressure controllers for each pneumatic chamber, a Bluetooth communication module, and a high-level controller implemented in MATLAB(r) Simulink to easily test different locomotion strategies.


Original languageEnglish
Title of host publicationInternational Conference and Exhibition on New Actuator Systems and Applications GMM Conference, February 17-19, 2021, Online Event
Subtitle of host publicationGMM technical reports
PublisherVDE Verlag GmbH
Pages273-276
Number of pages4
Volume2021-February
Edition98
ISBN (Electronic)9783800754564
ISBN (Print)9783800754540
Publication statusPublished - 2021
Event17th International Conference and Exhibition on New Actuator Systems and Applications, ACTUATOR 2021 - Virtual, Online
Duration: 17 Feb 202119 Feb 2021

Publication series

NameGMM-Fachberichte
ISSN (Print)1432-3419

Conference

Conference17th International Conference and Exhibition on New Actuator Systems and Applications, ACTUATOR 2021
CityVirtual, Online
Period17/02/2119/02/21

Keywords

  • Colonoscopy
  • Colorectal cancer
  • Index Terms—Robotic colonoscopy
  • Medical robotics
  • Soft robotics

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