Wireless capsule endoscopy offers significant advantages compared with traditional endoscopic procedures, since it limits the invasiveness of gastrointestinal tract screening and diagnosis. Moreover, active locomotion devices would allow endoscopy to be performed in a totally controlled manner, avoiding failures in the correct visualization of pathologies. Previous works demonstrated that magnetic locomotion through a robotic-aided platform would allow us to reach this goal reliably. In this paper, the authors present a comparative evaluation of control methodologies and user interfaces for a robotic-aided magnetic platform for capsule endoscopy, controlled through human-robot cooperative and teleoperated control algorithms. A detailed statistical analysis of significant control parameters was performed: teleoperated control is the more reliable control approach, and a serial kinematic haptic device results as the most suitable control interface to perform effective robotic-aided endoscopic procedures.
A comparative evaluation of control interfaces for a robotic-aided endoscopic capsule platform
AREZZO, Alberto;MORINO, Mario;
2012-01-01
Abstract
Wireless capsule endoscopy offers significant advantages compared with traditional endoscopic procedures, since it limits the invasiveness of gastrointestinal tract screening and diagnosis. Moreover, active locomotion devices would allow endoscopy to be performed in a totally controlled manner, avoiding failures in the correct visualization of pathologies. Previous works demonstrated that magnetic locomotion through a robotic-aided platform would allow us to reach this goal reliably. In this paper, the authors present a comparative evaluation of control methodologies and user interfaces for a robotic-aided magnetic platform for capsule endoscopy, controlled through human-robot cooperative and teleoperated control algorithms. A detailed statistical analysis of significant control parameters was performed: teleoperated control is the more reliable control approach, and a serial kinematic haptic device results as the most suitable control interface to perform effective robotic-aided endoscopic procedures.File | Dimensione | Formato | |
---|---|---|---|
A_Comparative_Evaluation_of_Control_Interfaces_for.pdf
Accesso riservato
Descrizione: pdf editoriale
Tipo di file:
PDF EDITORIALE
Dimensione
614.29 kB
Formato
Adobe PDF
|
614.29 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
A Comparative Evaluation of Control Interfaces OA_4aperto.pdf
Accesso aperto
Descrizione: post print senza embargo
Tipo di file:
POSTPRINT (VERSIONE FINALE DELL’AUTORE)
Dimensione
268.02 kB
Formato
Adobe PDF
|
268.02 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.