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Modeling and In Vitro Experimental Validation for Kinetics of the Colonoscope in Colonoscopy

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Abstract

Colonoscopy is the most sensitive and specific means for detection of colon cancers and polyps. To make colonoscopy more effective several problems must be overcome including: pain associated with the procedure, the risk of perforation, and incomplete intubation colonoscopy. Technically, these problems are the result of loop formation during colonoscopy. Although, several solutions such as modifying the stiffness of the colonoscope, using an overtube and develo** image-guided instruments have been introduced to resolve the loo** problem, the results of these systems are not completely satisfactory. A new paradigm to overcome loop formation is proposed that is doctor-assistive colonoscopy. In this approach, the endoscopists performance is enhanced by providing using a kinetic model that provides information such as the shape of the scope, direction of the colon and forces exerted within certain sections. It is expected that with the help of this model, the endoscopist would be able to adjust the manipulation to avoid loop formation. In the present studies, the kinetic model is developed and validated using an ex vivo colonoscopy test-bed with a comprehensive kinematic and kinetic data collection. The model utilizes an established colon model based on animal tissue with position tracking sensors, contact force sensors for the intraluminal portion of the scope and a Colonoscopy Force Monitor for the external insertion tube.

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Abbreviations

CFM:

Colonoscopy Force Monitor

FEM:

Finite Element Method

LCP:

Linear Complementarity Problem

ELF:

Economical Load and Force

ATC:

Ascension Technologies Corp

DOF:

Degree of Freedom

RMSE:

Root mean square error

CV:

Coefficient of variation

ANOVA:

Analysis of variance

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Acknowledgments

The first author wishes to acknowledge financial support received from China Scholarship Council for this research, and give special thanks to Dr. Christina Duriez for his technical support for this research. This research is partially supported by Shanghai Science and Technology Foundation through an international collaborative research funding (Research Funding No.: 12410709900). The authors acknowledge Artann Laboratories for providing CFM device for this research. Development of the CFM was supported by the Grant R44DK068936 from the National Institute Of Diabetes And Digestive And Kidney Diseases.

Conflict of interest

The authors declare that there is no conflict of interest.

Author information

Authors and Affiliations

  1. Division of Biomedical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canada

    Wu-Bin Cheng & Wen-Jun Zhang

  2. Complex Systems Laboratory, East China University of Science and Technology, Shanghai, 200237, China

    Wu-Bin Cheng & Wen-Jun Zhang

  3. College of Pharmacy and Nutrition, University of Saskatchewan, Saskatoon, SK, S7N 5C9, Canada

    Yun-Yun Di

  4. Department of Radiology, University of Alberta, St Edmonton, AB, T6G 2B7, Canada

    Edwin M. Zhang

  5. Department of Surgery, Division of General Surgery, University of Saskatchewan, Saskatoon, SK, S7N0W8, Canada

    Michael A. J. Moser & Sivaruban Kanagaratnam

  6. Chevy Chase Endoscopy Center, Chevy Chase, MD, 20815, USA

    Louis Y. Korman

  7. George Washington University School of Medicine, Washington, DC, 20052, USA

    Louis Y. Korman

  8. ARTANN Laboratories Inc, West Trenton, NJ, 08618, USA

    Noune Sarvazyan

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  1. Wu-Bin Cheng
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  2. Yun-Yun Di
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Correspondence to Wen-Jun Zhang.

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Associate Editor Cheng Dong oversaw the review of this article.

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Cheng, WB., Di, YY., Zhang, E.M. et al. Modeling and In Vitro Experimental Validation for Kinetics of the Colonoscope in Colonoscopy. Ann Biomed Eng 41, 1084–1093 (2013). https://doi.org/10.1007/s10439-013-0746-1

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  • DOI: https://doi.org/10.1007/s10439-013-0746-1

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