Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-actuated HydroJet endoscopic platform was developed as a low-cost, disposable alternative for inspection of the gastric cavity in low-resource settings. In this work, we present a teleoperation scheme and contact detection algorithm that work together to enable intuitive teleoperation of the HydroJet within the confined space of the stomach. Using a geometrically accurate stomach model and realistic anatomical inspection targets, we demonstrate that, using these methods, a novice user can complete a gastroscopy in approximately the same amount of time with the HydroJet as with a conventional endoscope.

中文翻译：

---

用于低成本胃镜检查的水刀驱动软连续体机械手的遥操作和接触检测

胃癌是全球癌症死亡的第三大原因，大多数新病例发生在低收入和中等收入国家，传统内窥镜检查的高成本阻碍了这些国家获得筛查项目的机会。水刀驱动的 HydroJet 内窥镜平台被开发为一种低成本、一次性的替代方案，用于在资源匮乏的环境中检查胃腔。在这项工作中，我们提出了一种遥操作方案和接触检测算法，它们协同工作，以在胃的有限空间内实现 HydroJet 的直观遥操作。使用几何精确的胃模型和真实的解剖检查目标，我们证明，使用这些方法，新手用户可以在与使用传统内窥镜大致相同的时间内使用 HydroJet 完成胃镜检查。