Robotic flexible endoscope

Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function

“…Moreover, much higher air pressure is required to implement gastroscope intervention. We therefore suggest that a wiper be set at the end of the GIM to remove oesophageal mucus during retraction and eliminate the uncertainty of transmission force caused by it; in a wiper was used, supporting this idea.…”

A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD

“…For complete solo surgery, remote control of the fluids should be provided to the surgeon at the master console, as proposed in [19]. Before securing the endoscope onto the cradle, the cradle positioning has to be partly controlled from the master console.…”

“…It has reached the level of clinical trials, but several limitations, such as the necessity to have assistants to manipulate the endoscope have been mentioned [1]. (3) The robotic system developed by the university of Twente in the Teleflex project [19] is based on a standard flexible endoscope and articulated instruments manufactured by Karl Storz. No in vivo trials of the complete telemanipulated system have been reported yet.…”

Mixed control scheme for accurate control of robotic flexible endoscope

“…This is also one important reason why all types of flexible tendon-driven endoscopes are operated manually in current practice. 11 Two well-known approaches exist for modelling and controlling TSSs, namely, the discrete static and the continuous dynamic methods. Since Kaneko et al 12 proposed the first static model of a single-tendon system; many researchers have used lumped mass model elements to model TSSs, such as Palli and Melchiorri, 13 Chen et al 14 and Low et al 15 A set of partial differential equations were proposed by Agrawal et al 16,17 to model the nonlinearity of TSSs.…”