title: Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.
abstract: OBJECTIVE
  Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy.
  
  
  METHODS
  The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot.
  
  
  RESULTS
  A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures.
  
  
  CONCLUSIONS
  This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.
authors.affiliation: Department of Intelligent Robotics, Hanyang University, Ansan, Korea.
authors.forename: Jaehong
authors.initials: J
authors.lastname: Woo
authors.affiliation: Department of Internal Medicine and Institute of Gastroenterology, Yonsei University College of Medicine, Seoul, Korea.
authors.forename: Jae Hyuk
authors.initials: JH
authors.lastname: Choi
authors.affiliation: Department of Mechatronics Engineering, Hanyang University, Ansan, Korea.
authors.forename: Jong Tae
authors.initials: JT
authors.lastname: Seo
authors.affiliation: Department of Internal Medicine and Institute of Gastroenterology, Yonsei University College of Medicine, Seoul, Korea. taeilkim@yuhs.ac.
authors.forename: Tae Il
authors.initials: TI
authors.lastname: Kim
authors.affiliation: Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea. bj@hanyang.ac.kr.
authors.forename: Byung Ju
authors.initials: BJ
authors.lastname: Yi
mesh_terms: D000465:Algorithms; D020685:Colonoscopes; D003113:Colonoscopy / Q000295:instrumentation / Q000379:methods*; D004867:Equipment Design; D005246:Feedback; D006801:Humans; D012371:Robotics / Q000379:methods*; D019415:Torque
keywords: Colonoscopy; endoscopy; haptic; robotics