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

*この研究の対応する著者

研究成果: Article査読

18 被引用数 (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.

本文言語English
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
4
DOI
出版ステータスPublished - 2010 7月

ASJC Scopus subject areas

  • 外科
  • 生体医工学
  • 放射線学、核医学およびイメージング
  • コンピュータ ビジョンおよびパターン認識
  • 健康情報学
  • コンピュータ サイエンスの応用
  • コンピュータ グラフィックスおよびコンピュータ支援設計

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