Background A robotic-aided magnetic platform for active locomotion of a robotic pill controlled through two teleoperated user interfaces, knob-based (KB) and serial kinematic (SK) interfaces, and a human-robot cooperative (HRC) control was pursed. We conducted a comparative evaluation study of control methodologies. Methods One expert and fifteen trainees performed a colonoscopy with each interface along an ex vivo animal bowel resembling human anatomy. An unknown number of colored pins were placed along the colon. Endpoints were the number of identified targets, time taken to complete the procedure, number of magnetic link losses and robotic arm trajectories. Results Reliable control of the capsule was feasible with all interfaces. Median accuracy with HRC control was 84% vs. 79% with both the KB and SK interfaces (P[0.05). Median elapsed time was 298 s with HRC control vs. 440 s and 573 s with KB and SK interfaces, respectively (P\0.05). With HRC control, the number of magnetic link loss was 3.4 vs. 1.8 and 2.0 with the KB and SK interfaces, respectively (P\0.05). The average distance the robotic arm could move was 2.6 m using the HRC control while it was 1.3 and 1.0 m with the KB and SK interfaces, respectively (P\0.05). Conclusions Our experimental protocol demonstrated feasibility for magnetic control of capsule locomotion. While no significant difference was observed in terms of accuracy, HRC control registers both the most magnet loss and the most irregular trajectories. The teleoperated KB and SK interfaces, instead, allow stable magnetic links, regular trajectories, and higher precision in capsule control that, most likely, mean greater safety in clinical practice.
Control user interfaces for a robotic-aid platform for endo and laparoscopic applications: which is the best?
ALLAIX, Marco Ettore;AREZZO, Alberto;MORINO, Mario;
2011-01-01
Abstract
Background A robotic-aided magnetic platform for active locomotion of a robotic pill controlled through two teleoperated user interfaces, knob-based (KB) and serial kinematic (SK) interfaces, and a human-robot cooperative (HRC) control was pursed. We conducted a comparative evaluation study of control methodologies. Methods One expert and fifteen trainees performed a colonoscopy with each interface along an ex vivo animal bowel resembling human anatomy. An unknown number of colored pins were placed along the colon. Endpoints were the number of identified targets, time taken to complete the procedure, number of magnetic link losses and robotic arm trajectories. Results Reliable control of the capsule was feasible with all interfaces. Median accuracy with HRC control was 84% vs. 79% with both the KB and SK interfaces (P[0.05). Median elapsed time was 298 s with HRC control vs. 440 s and 573 s with KB and SK interfaces, respectively (P\0.05). With HRC control, the number of magnetic link loss was 3.4 vs. 1.8 and 2.0 with the KB and SK interfaces, respectively (P\0.05). The average distance the robotic arm could move was 2.6 m using the HRC control while it was 1.3 and 1.0 m with the KB and SK interfaces, respectively (P\0.05). Conclusions Our experimental protocol demonstrated feasibility for magnetic control of capsule locomotion. While no significant difference was observed in terms of accuracy, HRC control registers both the most magnet loss and the most irregular trajectories. The teleoperated KB and SK interfaces, instead, allow stable magnetic links, regular trajectories, and higher precision in capsule control that, most likely, mean greater safety in clinical practice.
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