Subject Colonoscopy

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

The user is manipulating the

The tattoo marker used to identify the maximum
joystick with the right hand and distance reached with a conventional endoscope
feeding the tether with the left
Autonomous navigation
hand.
magnetic flexible endoscope

The choice of a 20-minute time limit is based on ref [35]

Semi-autonomous navigation

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

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Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

Robotic-Assisted Colonoscopy Platform with aMagnetically-Actuated Soft-Tethered Capsule

Real-time image
streaming

Haptic interface
(joystick)

The capsule houses a permanent magnet to interact with the

magnetic end-effector of the robot.

The magnetic link was lost 5 times during the 10 procedures

Always stick above

Is not always located in the middle of the bowel lumen
the possibility of the capsule being dropped
기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16
Intellectual property right for this notebook belongs to
Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

Intelligent magnetic manipulation for gastrointestinal ultrasound

Vivo experimental setup in the endoscopy suite

A diagram that summarizes the major components in the system and the data flow between them
기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16
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Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

Steering module
Feeding module

Autonomous

Optional

UART
Insertion and Rotation
( ~ Design ~ force)
1) Computer vision – based autonomous system
Performance comparison
2) Deep leaning – based autonomous system (times, velocity…)

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

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Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

Autonomous

Bbstacle avoidance drone

1) Computer vision – based autonomous system

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

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Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

Autonomous

2) Deep leaning – based autonomous system Data – Game

Based on (doctor video + Myungsung)

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

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Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

https://anatomy-medicine.com/digestive-
system/43-the-ascending-colon.html

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

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Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

g.seer.cancer.gov/colorectal/anatomy/figure/figu

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

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확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

https://abdominalkey.com/endoscopic-instruments/

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

Intellectual property right for this notebook belongs to
Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

Intellectual property right for this notebook belongs to
Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

http://www.endoscopy-colon-explorer.com/colonoscope/

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

Intellectual property right for this notebook belongs to
Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16
 Subject Colonoscopy

기록자 (Recorded by) : Nguyen Van Sy 서명 (Signature) : 일자 (Date) : 2021.04.16

Intellectual property right for this notebook belongs to
Korea Aerospace University
확인자 (Witnessed and understood by) : 김병규 서명 (Signature) : 일자 (Date) : 2021.04.16