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Shape and Contact Force Estimation of Inserted Flexible Medical Device

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Abstract

Flexible devices such as colonoscopy tube or catheter being inserted into the human-body make contact with the human tissues at several locations. Excessive contact force may damage the human tissues. To cope with this problem, the first aim of this paper is the shape estimation of the flexible body inside the human body using only two electromagnetic sensors. For this, the flexible body is modeled as kinematically redundant manipulator with many joints and links. The second aim is to estimate contact forces at a point, line contact, and multiple points. Cosserat-rod theory is employed to solve this problem. The effectiveness of the proposed algorithms is proved through both experiment and simulation for a flexible colonoscopy tube.

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Correspondence to Byung-Ju Yi.

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Recommended by Guest Editors Doo Yong Lee (KAIST) and Jaesoon Choi (Asan Medical Center). This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program-Artificial intelligence bio-robot medical convergence project) (20001257, Artificial intelligence algorithm based vascular intervention robot system for reducing radiation exposure and achieving 0.5 mm accuracy) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea), the Ministry of Health & Welfare (MOHW), Ministry of Science and ICT (MSIT), Korea Evaluation Institute of Industrial Technology (KEIT), supported by the Technology Innovation Program (10052980, Development of microrobotic system for surgical treatment of chronic total occlusion) funded by the Ministry of Trade, Industry & Energy, Korea, and supported by the BK21 Plus Program funded by National Research Foundation of Korea (NRF).

Hwan-Taek Ryu received his B.S. degree in Department of Electronic Information System Engineering from Hanyang University, Ansan, Korea, in 2010, and his M.S. degree in Department of Electronic, Electrical, Control and Instrumentation Engineering from Hanyang University, Seoul, Korea, in 2012. He is currently a Ph.D. candidate in Department of Intelligent Robotics from Hanyang University, Seoul, Korea. His research interests include the impact dynamics, robot dynamics, and continuum robot dynamics.

Jaehong Woo received his B.S. degree in Department of Electronic Information System Engineering from Hanyang University, Ansan, Korea, in 2011, and his M.S. degree in Department of Electronic, Electrical, Control and Instrumentation Engineering from Hanyang University, Seoul, Korea, in 2013. He is currently a Ph.D. candidate in Department of Intelligent Robotics from Hanyang University, Seoul, Korea. His research interests include the haptic device, medical robot.

Byung-Rok So received his B.S. and M.S. degrees in the Control and Instumentation Engineering, from Hanyang University, Korea, in 1997 and 2000, respectively, and his Ph.D. degrees in the Electronics, Electrical, Control and Instrumentation Engineering, Hanyang University in 2006. Currently, he is a principal researcher in Robotics R&BD Group, the Korea Institute of Industrial Technology(KITECH). His research interests include design and control of humanoid, space robot and soft robot, the modeling of redundant and parallel mechanism, and impact control.

Byung-Ju Yi received his B.S. degree from Hanyang University, Seoul, Korea, in 1984, and his M.S. and Ph.D. degrees from The University of Texas at Austin, TX, USA, in 1986 and 1991, respectively, all in mechanical engineering. From January 1991 to August 1992, he was a Post-doctoral Fellow with the Robotics Group, The University of Texas at Austin. From September 1992 to February 1995, he was an Assistant Professor in the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Cheonan, Chungnam, Korea. In March 1995, he joined the Department of Control and Instrumentation Engineering, Hanyang University, Seoul, Korea. He is currently a Professor with the Department of Electronic Systems Engineering, Hanyang University. He was a Visiting Professor at The Johns Hopkins University, Baltimore, MA, USA, in 2004 and a JSPS Fellow at Kyushu University, Japan, in 2011. His research interests include general robot mechanics with application to surgical robotic systems (ENT, neurosurgical, and needle insertion areas), deep learning based robotic manipulation, and ubiquitous sensor network-based robotics. Dr. Yi is a Member of the IEEE Robotics and Automation Society also he was an Associate Editor of the IEEE Transactions on Robotics from 2005 to 2008 and he was a president of Korean Society of Medical Robotics from 2016 to 2018. He is currently president of the Korean Robotics Society. His research interests include serial and parallel manipulator analysis, mechanical design, surgical and medical robot.

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Ryu, HT., Woo, J., So, BR. et al. Shape and Contact Force Estimation of Inserted Flexible Medical Device. Int. J. Control Autom. Syst. 18, 163–174 (2020). https://doi.org/10.1007/s12555-019-0237-8

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