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Towards Tracking a Semi-autonomous, Pneumatic Colonoscope Robot

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Advances in Automation and Robotics Research in Latin America

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 13))

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Abstract

We describe a semi-autonomous tracking technique based on a Bayesian prediction mechanism for a pneumatic colonoscopy robot. One of the principal problems in using a robot colonoscope is to determine its position or displacement after it has been inserted into the colon. To address this problem for our robot, we have developed a temporal Bayesian framework that uses the observations of the air flow rate and pressure in the tube guiding the robot to predict the current location of the robot. Our experimental results show that the predicted location and velocity of the robot are accurate over most of the time-steps, with a maximum error of 11.5 cm (about 2.5 times the length of the robot’s head) occurring only \(7\%\) of the time.

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Notes

  1. 1.

    Videos of the experiments can be found at https://sites.google.com/site/inversproject/.

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Author information

Authors and Affiliations

  1. Computer Science Department, University of Nebraska at Omaha, Omaha, USA

    Bradley Woosley, Prithviraj Dasgupta & José Baca

  2. Mechanical and Materials Engineering Department, University of Nebraska-Lincoln, Lincoln, USA

    Hossein Dehghani, Ross Welch, Carl Nelson & Benjamin Terry

  3. Department of Surgery, University of Nebraska Medical Center, Omaha, USA

    Dmitry Oleynikov

Authors
  1. Bradley Woosley
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  2. Prithviraj Dasgupta
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  3. Hossein Dehghani
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  4. Ross Welch
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  5. José Baca
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  6. Carl Nelson
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  7. Benjamin Terry
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  8. Dmitry Oleynikov
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Corresponding author

Correspondence to Bradley Woosley .

Editor information

Editors and Affiliations

  1. Facultad de Ingeniería Eléctrica (FIE), Universidad Tecnológica de Panamá , Panamá, Panama

    Ignacio Chang

  2. Computer Science Department, College of Information Science & Technology, University of Nebraska at Omaha, Omaha, Nebraska, USA

    José Baca

  3. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Héctor A. Moreno

  4. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Isela G. Carrera

  5. El Salvador, El Salvador

    Manuel N. Cardona

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Woosley, B. et al. (2017). Towards Tracking a Semi-autonomous, Pneumatic Colonoscope Robot. In: Chang, I., Baca, J., Moreno, H., Carrera, I., Cardona, M. (eds) Advances in Automation and Robotics Research in Latin America. Lecture Notes in Networks and Systems, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-54377-2_10

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  • DOI: https://doi.org/10.1007/978-3-319-54377-2_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54376-5

  • Online ISBN: 978-3-319-54377-2

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