Lower Digestive Tract Diagnostic Robot System

The lower digestive tract is an important part for bodies to absorb water and electrolytes,store and excrete feces.At present,the incidence of lower digestive tract diseases such as hemorrhoids,colorectal polyps,and colorectal cancer is increasing,which seriously endangers human health.This phenomenon has attracted the attention of many scholars.Colonoscopy is the standard method for diagnosing disease of the lower digestive tract.However,colonoscopy is usually performed by doctors manually inserting the colonoscope through the patient’s anus,which is not ideal for doctors.In addition,when doctors perform multiple colonoscopies,the risk of muscle damage caused by manually controlled colonoscopy is significantly increased.With the development of robotic automation,the colonoscopy diagnostic robotic system that can convert the doctors’ complex operations into precise movements of robotic joints is considered to be an effective way to improve colonoscopy diagnosis.This paper proposes a lower digestive tract diagnostic robot system composed of the in vitro subsystem and the vivo subsystem.The in vitro subsystem inserts an anoscope into the patients’ anus to open the way for the in vivo subsystem to enter the lower gastrointestinal tract.The in vivo subsystem is able to move along the lower digestive tract and diagnose disease.This paper has designed the structure of the lower digestive diagnostic robot system.Through deep learning model DeepLab v3+,contour center detection algorithm and point cloud processing algorithm,the visual navigation and disease diagnosis functions of the system are designed based on RGB-D depth camera and endoscopic camera,to identify the position and posture of the center of the anus,the center and health status of the colorectal duct.Through the hand-eye calibration and the D-H model of the flexible material,the motion control of the in vitro subsystem and the in vivo subsystem is realized based on mechanical arm and motors.The 3D printed models of anus and lower digestive tract simulates the actual diagnosis scene,and the accuracy of the system is analyzed through experiments.The result shows that the lower digestive tract diagnostic robot system is competent for the diagnostic task.The lower digestive tract diagnostic robot system can provide doctors with a more ideal diagnostic environment,with less fluctuation in diagnostic efficiency and reduce the pain of patients in lower digestive tract diagnosis.It conforms to the trend of the state to encourage the development of high-performance medical devices,and accelerate the transformation and upgrading of medical devices,which will help improve the international competitiveness of my country’s diagnostic and treatment equipment with independent intellectual property rights.