Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

G. Trovato, M. Shikanai, G. Ukawa, J. Kinoshita, N. Murai, J. W. Lee, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, M. Hashizume

研究成果: ジャーナルへの寄稿記事

10 引用 (Scopus)

抄録

Purpose Fibre optic colonoscopy is usually performed with manual introduction and advancement of the endoscope, but there is potential for a robot capable of locomoting autonomously from the rectum to the caecum. A prototype robot was designed and tested. Methods The robot colonic endoscope consists in a front body with clockwise helical fin and a rear body with anticlockwise one, both connected via a DC motor. Input voltage is adjusted automatically by the robot, through the use of reinforcement learning, determining speed and direction (forward or backward). Results Experiments were performed both in-vitro and in-vivo, showing the feasibility of the robot. The device is capable of moving in a slippery environment, and reinforcement learning algorithms such as Q-learning and SARSA can obtain better results than simply applying full tension to the robot. Conclusions This self-propelled robotic endoscope has potential as an alternative to current fibre optic colonoscopy examination methods, especially with the addition of new sensors under development.

元の言語英語
ページ(範囲)317-325
ページ数9
ジャーナルInternational Journal of Computer Assisted Radiology and Surgery
5
発行部数4
DOI
出版物ステータス出版済み - 7 2010

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Endoscopy
Endoscopes
Reinforcement learning
Locomotion
Colon
Learning
Robots
Colonoscopy
Robotics
Rectum
Fiber optics
Equipment and Supplies
DC motors
Learning algorithms
Reinforcement (Psychology)
Sensors
Electric potential
Experiments

All Science Journal Classification (ASJC) codes

  • Surgery
  • Biomedical Engineering
  • Radiology Nuclear Medicine and imaging
  • Computer Vision and Pattern Recognition
  • Health Informatics
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

これを引用

Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning. / Trovato, G.; Shikanai, M.; Ukawa, G.; Kinoshita, J.; Murai, N.; Lee, J. W.; Ishii, H.; Takanishi, A.; Tanoue, K.; Ieiri, S.; Konishi, K.; Hashizume, M.

:: International Journal of Computer Assisted Radiology and Surgery, 巻 5, 番号 4, 07.2010, p. 317-325.

研究成果: ジャーナルへの寄稿記事

Trovato, G, Shikanai, M, Ukawa, G, Kinoshita, J, Murai, N, Lee, JW, Ishii, H, Takanishi, A, Tanoue, K, Ieiri, S, Konishi, K & Hashizume, M 2010, 'Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning', International Journal of Computer Assisted Radiology and Surgery, 巻. 5, 番号 4, pp. 317-325. https://doi.org/10.1007/s11548-010-0481-0
Trovato, G. ; Shikanai, M. ; Ukawa, G. ; Kinoshita, J. ; Murai, N. ; Lee, J. W. ; Ishii, H. ; Takanishi, A. ; Tanoue, K. ; Ieiri, S. ; Konishi, K. ; Hashizume, M. / Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning. :: International Journal of Computer Assisted Radiology and Surgery. 2010 ; 巻 5, 番号 4. pp. 317-325.
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