ArticleIEEE robotics and automation letters2017
Autonomous Retroflexion of a Magnetic Flexible Endoscope.
Article in IEEE robotics and automation letters, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 13 papers.
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Who cites it
13 citing papers in PubMed, 49 citations in OpenAlex.
- The era of autonomous surgical robotics in thoracic surgery: is it coming?International journal of surgery (London, England) · 2026Article
- Artificial intelligence: revolutionizing robotic surgery: review.Annals of medicine and surgery (2012) · 2024Review
- Autonomous Robotic Surgery: Has the Future Arrived?Cureus · 2024Review
- Robotic, self-propelled, self-steerable, and disposable colonoscopes: Reality or pipe dream? A state of the art review.World journal of gastroenterology · 2022Review
- Robotic Autonomy for Magnetic Endoscope Biopsy.IEEE transactions on medical robotics and bionics · 2022Article
- Magnetic Soft Materials and Robots.Chemical reviews · 2022Review
- Closed-loop control of soft continuum manipulators under tip follower actuation.The International journal of robotics research · 2021Article
- Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy.IEEE robotics and automation letters · 2020Article
- Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation.Nature machine intelligence · 2020Article
- Sensitivity Ellipsoids for Force Control of Magnetic Robots with Localization Uncertainty.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2019Article
- Explicit Model Predictive Control of a Magnetic Flexible Endoscope.IEEE robotics and automation letters · 2019Article
- Enhanced Real-Time Pose Estimation for Closed-Loop Robotic Manipulation of Magnetically Actuated Capsule Endoscopes.The International journal of robotics research · 2018Article
- Autonomously Controlled Magnetic Flexible Endoscope for Colon Exploration.Gastroenterology · 2018Article
Corrections and comments
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Authors and funding
5 authors at 2 institutions in 1 country.
Funding
Abstract
Retroflexion during colonoscopy is typically only practiced in the wider proximal and distal ends of the large intestine owing to the stiff nature of the colonoscope. This inability to examine the proximal side of the majority of colon folds contributes to today's suboptimal colorectal cancer detection rates. We have developed an algorithm for autonomous retroflexion of a flexible endoscope that is actuated magnetically from the tip. The magnetic wrench applied on the tip of the endoscope is optimized in real-time with data from pose detection to compute motions of the actuating magnet. This is the first example of a completely autonomous maneuver by a magnetic endoscope for exploration of the gastrointestinal tract. The proposed approach was validated in plastic tubes of various diameters with a success rate of 98.8% for separation distances up to 50 mm. Additionally, a set of trials was conducted in an excised porcine colon observing a success rate of 100% with a mean time of 19.7 s. In terms of clinical safety, the maximum stress that is applied on the colon wall with our methodology is an order of magnitude below what would damage tissue.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.