title: Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.
abstract: BACKGROUND
  Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping.
  
  
  METHODS
  This paper presents a robotic system for a standard flexible endoscope and focuses on a novel gastroscope intervention mechanism (GIM), which provides circumferentially uniform clamping with an airbag. The GIM works with a relay-on mechanism in a way similar to manual operation. The shear stiffness of airbag and the critical slipping force (CSF) were analysed to determine the parameters of the airbag. A fuzzy PID controller was employed to realize a fast response and high accuracy of pneumatic actuation. Experiments were performed to evaluate the accuracy, stiffness and CSF. In vitro and in vivo animal experiments were also carried out.
  
  
  RESULTS
  The GIM realized an accuracy of 0.025 ± 0.2 mm and -0.03 ± 0.25° for push-pull and rotation without delivery resistance. Under < 10 N delivery resistance, the error caused by the airbag stiffness was < 0.24 mm. A quadratic polynomial could be used to describe the relationship between the CSF and pneumatic pressure.
  
  
  CONCLUSIONS
  The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety. Copyright © 2016 John Wiley & Sons, Ltd.
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People's Republic of China.|University of Chinese Academy of Sciences, Beijing, People's Republic of China.
authors.forename: Yanmin
authors.initials: Y
authors.lastname: Li
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People's Republic of China.|University of Chinese Academy of Sciences, Beijing, People's Republic of China.
authors.forename: Hao
authors.initials: H
authors.lastname: Liu
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People's Republic of China.
authors.forename: Siwen
authors.initials: S
authors.lastname: Hao
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People's Republic of China.
authors.forename: Hongyi
authors.initials: H
authors.lastname: Li
authors.affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People's Republic of China.|University of Chinese Academy of Sciences, Beijing, People's Republic of China.
authors.forename: Jianda
authors.initials: J
authors.lastname: Han
authors.affiliation: Department of Gastroenterology and Hepatology, Chinese PLA General Hospital, Beijing, People's Republic of China.
authors.forename: Yunsheng
authors.initials: Y
authors.lastname: Yang
mesh_terms: D000465:Algorithms; D000818:Animals; D019723:Endoscopes; D004724:Endoscopy / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D017143:Fuzzy Logic; D020699:Gastroscopes; D005773:Gastroscopy / Q000295:instrumentation* / Q000379:methods*; D006801:Humans; D008297:Male; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012306:Risk; D065287:Robotic Surgical Procedures; D013314:Stress, Mechanical; D013552:Swine
keywords: circumferential clamping; critical slipping force; fuzzy PID control; gastroscope intervention mechanism; shear stiffness