IEEE Robotics and Automation Letters (2018): A Platform for Developing Robotic Navigation Strategies in a Deformable, Dynamic Environment
[video:https://youtu.be/BlocrbC7kus]
´¡²ú²õ³Ù°ù²¹³¦³Ù:ÌýWhile in vivo robotic locomotion has demonstrated its potential through a number of means, sensing and closed-loop control for such devices has not been at the forefront of research. By enabling real-time navigation, capsule endoscopy could transform from passive capsule endoscopes (CE) and remote-controlled (robotic capsule endoscopes) devices into semi or fully autonomous, surgical tools. In this work, a novel robotic endoscope platform (REP) is designed and tested. This platform will be used to evaluate control, localization and mapping techniques necessary to endow a robotic CE with autonomous features. REP performance was benchmarked against design requirements that included sensing, speed and maneuverability. It was found that the REP could accelerate to a maximum speed of 80 mm/s in less than 0.2 seconds and could achieve a zero-point turning radius. Most significantly, a low cost image segmentation algorithm was developed to enable real-time lumen navigation/center tracking. Visual navigation time trials were compared to manual user trials through a 90-degree turn in a deformable simulator, exhibiting mean run times 34% faster than manual users. This demonstrates the platform's maneuverability and sensing capabilities allowing for future implementation of a range of advanced sensing and controls techniques.
Prendergast, J.M., Formosa, G.A., Rentschler, M.E., "A Platform for Developing Robotic Navigation Strategies in a Deformable, Dynamic Environment," IEEE Robotics and Automation Letters. 3(3): 2670-2677, 2018.
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