TY - GEN
T1 - Design and Development of a Novel Soft and Inflatable Tactile Sensing Balloon for Early Diagnosis of Colorectal Cancer Polyps
AU - Kara, Ozdemir Can
AU - Kim, Hansoul
AU - Xue, Jiaqi
AU - Mohanraj, Tarunraj G.
AU - Hirata, Yuki
AU - Ikoma, Naruhiko
AU - Alambeigi, Farshid
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, with the goal of addressing the high early-detection miss rate of colorectal cancer (CRC) polyps during a colonoscopy procedure, we propose the design and fabrication of a unique inflatable vision-based tactile sensing balloon (VTSB). The proposed soft VTSB can readily be integrated with the existing colonoscopes and provide a radiation-free, safe, and high-resolution textural mapping and morphology characterization of CRC polyps. The performance of the proposed VTSB has been thoroughly characterized and evaluated on four different types of additively manufactured CRC polyp phantoms with three different stiffness levels. Additionally, we integrated the VTSB with a colonoscope and successfully performed a simulated colonoscopic procedure inside a tube with a few CRC polyp phantoms attached to its internal surface.
AB - In this paper, with the goal of addressing the high early-detection miss rate of colorectal cancer (CRC) polyps during a colonoscopy procedure, we propose the design and fabrication of a unique inflatable vision-based tactile sensing balloon (VTSB). The proposed soft VTSB can readily be integrated with the existing colonoscopes and provide a radiation-free, safe, and high-resolution textural mapping and morphology characterization of CRC polyps. The performance of the proposed VTSB has been thoroughly characterized and evaluated on four different types of additively manufactured CRC polyp phantoms with three different stiffness levels. Additionally, we integrated the VTSB with a colonoscope and successfully performed a simulated colonoscopic procedure inside a tube with a few CRC polyp phantoms attached to its internal surface.
UR - http://www.scopus.com/inward/record.url?scp=85178512577&partnerID=8YFLogxK
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U2 - 10.1109/IROS55552.2023.10342343
DO - 10.1109/IROS55552.2023.10342343
M3 - Conference contribution
AN - SCOPUS:85178512577
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 10295
EP - 10300
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -