PDF(Pubmed)
Abstract：
Colorectal cancer (CRC) is the third most common cancer worldwide and responsible for approximately 1 million deaths annually. Early screening is essential to increase the chances of survival, and it can also reduce the cost of treatments for healthcare centres. Colonoscopy is the gold standard for CRC screening and treatment, but it has several drawbacks, including difficulty in manoeuvring the device, patient discomfort, and high cost. Soft endorobots, small and compliant devices thatcan reduce the force exerted on the colonic wall, offer a potential solution to these issues. However, controlling these soft robots is challenging due to their deformable materials and the limitations of mathematical models. In this Review, we discuss model-free and model-based approaches for controlling soft robots that can potentially be applied to endorobots for colonoscopy. We highlight the importance of selecting appropriate control methods based on various parameters, such as sensor and actuator solutions. This review aims to contribute to the development of smart control strategies for soft endorobots that can enhance the effectiveness and safety of robotics in colonoscopy. These strategies can be defined based on the available information about the robot and surrounding environment, control demands, mechanical design impact and characterization data based on calibration.
摘要：
结直肠癌（CRC）是全球第三大最常见的癌症，每年约有100万人死亡。早期筛查对于增加生存机会至关重要，它还可以降低医疗中心的治疗成本。结肠镜检查是CRC筛查和治疗的金标准。但是它有几个缺点，包括操纵装置的困难，患者不适,和高成本。软机器人，小型且柔顺的装置可以减少施加在结肠壁上的力，为这些问题提供一个潜在的解决方案。然而,控制这些软机器人是具有挑战性的，由于其可变形材料和数学模型的限制。在这篇评论中,我们讨论了用于控制软机器人的无模型和基于模型的方法，这些方法可能适用于结肠镜检查的内机器人。我们强调了根据各种参数选择合适的控制方法的重要性，如传感器和执行器解决方案。这篇综述旨在为软神经机器人的智能控制策略的开发做出贡献，这些策略可以提高结肠镜检查中机器人的有效性和安全性。这些策略可以根据有关机器人和周围环境的可用信息来定义，控制需求，基于校准的机械设计冲击和表征数据。
