Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm
Journal
Scientific Reports
Journal Volume
11
Journal Issue
1
Date Issued
2021
Author(s)
Abstract
This paper presents an autonomous navigation system for cost-effective magnetic-assisted colonoscopy, employing force-based sensors, an actuator, a proportional–integrator controller and a real-time heuristic searching method. The force sensing system uses load cells installed between the robotic arm and external permanent magnets to derive attractive force data as the basis for real-time surgical safety monitoring and tracking information to navigate the disposable magnetic colonoscope. The average tracking accuracy on magnetic field navigator (MFN) platform in x-axis and y-axis are 1.14 ± 0.59?mm and 1.61 ± 0.45?mm, respectively, presented in mean error ± standard deviation. The average detectable radius of the tracking system is 15?cm. Three simulations of path planning algorithms are presented and the learning real-time A* (LRTA*) algorithm with our proposed directional heuristic evaluation design has the best performance. It takes 75 steps to complete the traveling in unknown synthetic colon map. By integrating the force-based sensing technology and LRTA* path planning algorithm, the average time required to complete autonomous navigation of a highly realistic colonoscopy training model on the MFN platform is 15?min 38?s and the intubation rate is 83.33%. All autonomous navigation experiments are completed without intervention by the operator. ? 2021, The Author(s).
SDGs
Type
journal article