Project Focus

This project focuses on a developing mobile robotic capsule endoscopes (RCE) for exploration of the gastrointestinal (GI) tract. Such robots could improve procedures for both the patient and physician. This project is in collaboration with Dr. Steven Edmundowicz in Gastroentrology at CU Anschutz, Dr. Christoffer Heckman at CU Boulder, and Drs. Hao Zhang and Hua Wang in the Department of Computer Science at the Colorado School of Mines. Project funding and recent peer-reviewed papers are listed below.

Colonoscopies without the doctor?, CU Boulder Today. 

IEEE Transactions on Robotics (2021): A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation

Abstract: With significant progress being made toward improving endoscope technology such as capsule endoscopy and robotic endoscopy, the development of advanced strategies for manipulating, controlling, and more generally, easing the accessibility of these devices for physicians is an important next step. This article presents an autonomous navigation strategy for use...

IEEE Transactions on Biomedical Engineering (2021): Enabling Autonomous Colonoscopy Intervention Using a Robotic Endoscope Platform

Abstract: Objective: Robotic endoscopes have the potential to dramatically improve endoscopy procedures, however current attempts remain limited due to mobility and sensing challenges and have yet to offer the full capabilities of traditional tools. Endoscopic intervention (e.g., biopsy) for robotic systems remains an understudied problem and must be addressed prior...

ASME Journal of Dynamic Systems, Measurement and Control (2021): Nonlinear Dynamic Modeling of a Robotic Endoscopy Platform on Synthetic Tissue Substrates

Abstract: A scaled robotic endoscopy platform (REP) was previously developed to efficiently test new control schemes in a simulated colon environment. This article presents the derivation and tuning of a nonlinear model of the REP operating on various substrates. The modeling technique and novel empirical friction profiling demonstrated here are...

IEEE International Conference on Intelligent Robots and Systems (IROS) (2020): Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments

Abstract: This paper presents a new open-source dataset with ground truth position in a simulated colon environment to promote development of real-time feedback systems for physicians performing colonoscopies. Four systems (DSO, LSD-SLAM, SfMLearner, ORB-SLAM2) are tested on this dataset and their failures are analyzed. A data collection platform was fabricated...

IEEE International Conference on Robotics and Automation (ICRA) (2020): Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope

Abstract: Robotic capsule endoscopes (RCEs) are being widely investigated to improve the state of various endoscopy procedures. This paper presents the novel design of a multi-DOF sensor-enabled RCE for colonoscopies (Endoculus) and evaluates porcine in vivo and ex vivo performance. The novelty of the design includes a custom “double-worm” drive...

IEEE Transactions on Robotics (2020): Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope

Abstract: Robotic capsule endoscopes (RCEs) are being widely investigated to improve the state of various endoscopy procedures. This paper presents the novel design of a multi-DOF sensor-enabled RCE for colonoscopies (Endoculus) and evaluates porcine in vivo and ex vivo performance. The novelty of the design includes a custom “double-worm” drive...

IEEE International Conference on Intelligent Robots and Systems (2018): Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy

Abstract: Capsule endoscopes have gained popularity over the last decade as minimally invasive devices for diagnosing gastrointestinal abnormalities such as colorectal cancer. While this technology offers a less invasive and more convenient alternative to traditional scopes, these capsules are only able to provide observational capabilities due to their passive nature...

IEEE Robotics and Automation Letters (2018): A Modular Endoscopy Simulation Apparatus (MESA) for Robotic Medical Device Sensing and Control Validation

Abstract: Much of ongoing robotic endoscope research is focused on locomotion, with only limited exploration into feedback control and autonomy in the unconventional and dynamic in vivo environment. This letter presents a modular endoscopy simulation apparatus (MESA) to quickly, affordably, and repeatedly test novel robotic endoscope control schemes in a...

Expert Review of Medical Devices (2015): Magnetically-driven Medical Devices: A Review

Abstract: A widely accepted definition of a medical device is an instrument or apparatus that is used to diagnose, prevent or treat disease. Medical devices take a broad range of forms and utilize various methods to operate, such as physical, mechanical or thermal. Of particular interest in this paper are...

Expert Review of Medical Devices (2016): Towards Autonomous Motion Control in Minimally Invasive Robotic Surgery

Abstract: Introduction : While autonomous surgical robotic systems exist primarily at the research level, recently these systems have made a strong push into clinical settings. The autonomous or semi-autonomous control of surgical robotic platforms may offer significant improvements to a diverse field of surgical procedures, allowing for high precision, intelligent...

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