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Preliminary Development of a Multi-link Modular Robotic System for Improvement of Colonoscopy Intubation Process

Abstract Details

2015, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
A shape adjusting modular robotic system was fabricated to improve the colonoscopy intubation process. The system consists of independent and homogenous robotic modules. Each individual module has its own processor, actuators, sensors, power supply, Bluetooth (BT) module, and unique end-effector. Modules are capable of sending and receiving data wirelessly via Bluetooth in order to communicate between modules. The number of modules in the system and the end-effectors can be varied to complete different tasks. A prototype was built with three modules connected in series in order to replace the colonoscope’s distal tip and autonomously navigate the colon while being passively advanced. The BT communication protocol is defined, the kinematics for the 5-degree-of-freedom robotic system is modeled, and the shape changes were simulated in Matlab. Performance of the system was tested on an up-scaled sigmoid colon model, which resulted in effective collision avoidance between its body and the colon wall. It is a promising development direction for robotized colonoscopy.
Junghun Choi (Advisor)
Muhammad Ali (Committee Member)
David Drozek (Committee Member)
Maarten Uijt De Haag (Committee Member)
Robert Williams (Committee Member)
162 p.

Recommended Citations

Citations

  • Liu, K. (2015). Preliminary Development of a Multi-link Modular Robotic System for Improvement of Colonoscopy Intubation Process [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1430756935

    APA Style (7th edition)

  • Liu, Kaiqiang. Preliminary Development of a Multi-link Modular Robotic System for Improvement of Colonoscopy Intubation Process. 2015. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1430756935.

    MLA Style (8th edition)

  • Liu, Kaiqiang. "Preliminary Development of a Multi-link Modular Robotic System for Improvement of Colonoscopy Intubation Process." Master's thesis, Ohio University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1430756935

    Chicago Manual of Style (17th edition)