Skip to main content
SpringerLink
Log in

A Fully Autonomous Microrobotic Endoscopy System

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

In this paper, design of an autonomous microrobotic endoscopy system is presented. The proposed microrobotic endoscope is a vision-guided device, developed to facilitate navigation inside a human colon. The design of the entire system is divided into three areas viz. design of a microrobotic carrier, path planning and guidance, and an off-board control system. A microrobotic design based on pneumatic mechanisms to achieve locomotion and steering is explained. General mathematical analysis governing the differential steering of the robotic tip is also described. The path planning of the microrobot is carried out based on the sensory fusion utilising the quantitative parameters from the captured images and the tactile sensors. A real-time image segmentation scheme is described for extracting the lumen from endoscopic images. An off-board control system to control the directional movements of the microrobot is also explained. The proposed endoscopy system was tested with physical models and animal colons and the experimental observations are presented.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Asari, K. V., Kumar, S., and Radhakrishnan, D.: Technique of distortion correction of endoscopic images by using a polynomial expansion, Med. Biol. Engrg. Comput. 37 (1999), 8-12.

    Google Scholar 

  2. Carrozza, M. C., Lencioni, L., Magnani, B., Dairo, P., Reynaerts, D., Travella, M. G., and Pietrabissa, A.: A microrobot for colonoscopy, in: Proc. of MHS'96, Nagoya, Japan, 1996.

  3. Dairo, P., Carrozza, M. C., Lencioni, L., Magnani, B., and D'Attanasio, S.: A microrobotic system for colonoscopy, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, Albuquerque, NM, 1997, pp. 1567-1572.

  4. Dutta, R., Manmatha, R., Riseman, E. M., and Snyder, M. A.: Issues in extracting motion parameters and depth from approximate translational motion, in: Proc. of Image Understanding Workshop (DARPA), 1988, pp. 945-960.

  5. Fukuda, T., Guo, S., Kosuge, K., Arai, F., Negoro, M., and Nakabayashi, K.: Microactive catheter system with multi-degrees of freedom, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, San Diago, 1994.

  6. Gremban, K. D., Thorpe, C. E., and Kanade, T.: Geometric camera calibration using systems of linear equations, in: Proc. of Image Understanding Workshop (DARPA), 1988, pp. 820-825.

  7. Ikuta, K.: The application of the micro/miniature mechatronics to medical robotics, in: Proc. of IROS' 88, Tokyo, Japan, 1988, pp. 9-14.

  8. Ikuta, K., Tsukamoto, M., and Hirose, S.: Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, Philadelphia, PA, 1988, pp. 427-430.

  9. Kumar, S., Asari, K. V., Kassim, M. I., Yap, C. J., Krishnan, S. M., and Goh, P. M. Y.: Development of an intelligent microrobotic colonoscope, Technical Report, National University Hospital, Singapore, 1998.

    Google Scholar 

  10. Kumar, S., Asari, K. V., and Radhakrishnan, D.: Online extraction of lumen region and boundary from endoscopic images using a quad structure, in: Proc. of IEE Internat. Conf. on Image Processing and its Applications (IPA'99), Manchester, UK, 1999, pp. 818-822.

  11. Schurr, M. O., Buess, G., Neisius, B., and Voges, U.: Robotics and allied technologies in endoscopic surgery, in: Surgical Technology, International VII, 1998, pp. 83-88.

  12. Slatkin, B., Burdick, J., and Grundfest, W.: The development of a robotic endoscope, in: Proc. of IROS' 95, Nagoya, Japan, 1995, pp. 162-171.

  13. Suzumori, K., Hori, K., and Miyagawa, T.: A direct-drive pneumatic stepping motor for robots: Designs for pipe-inspection microrobots and for human-care robots, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, Vol. 4, 1998, pp. 3047-3052.

  14. Tsai, D. M. and Chen, Y. H.: A fast histogram-clustering approach for multi-level thresholding, Pattern Recogn. Lett. 13 (1992), 245-252.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Centre for High Performance Embedded Systems, School of Applied Science, Nanyang Technological University, Nanyang Av., Singapore, 639798

    Vijayan K. Asari

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, U.S.A.

    Sanjiv Kumar

  3. Robotics Research Centre, Nanyang Technological University, Singapore, 639798

    Irwan M. Kassim

Authors
  1. Vijayan K. Asari
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sanjiv Kumar
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Irwan M. Kassim
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Asari, V.K., Kumar, S. & Kassim, I.M. A Fully Autonomous Microrobotic Endoscopy System. Journal of Intelligent and Robotic Systems 28, 325–341 (2000). https://doi.org/10.1023/A:1008161411382

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1008161411382

Search

Navigation