A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function

Area of Science:

• Medical Robotics
• Gastroenterology
• Biomedical Engineering

Background:

• Robotic assisted gastroscope delivery offers solutions for understaffing and reducing risks like radiation and infection.
• Existing systems using friction rollers risk scope damage due to non-uniform clamping.

Purpose of the Study:

• To develop a novel gastroscope intervention mechanism (GIM) for safer and more accurate robotic assisted gastroscope delivery.
• To address the limitations of existing friction roller-based systems.

Main Methods:

• Development of a GIM utilizing a specially designed airbag for uniform pneumatic pressure clamping.
• Implementation of a relay delivery mode for axial and radial motion, mimicking clinician operations.
• Analysis of critical slipping force versus air pressure and experimental evaluation of delivery accuracy and velocity.

Main Results:

• The GIM achieved high delivery accuracy: 0.025±0.2mm (axial) and -0.03±0.25deg (radial).
• Average velocities of 6.00mm·s⁻¹ (push/pull) and 75 deg·s⁻¹ (twist) were attained.
• A quadratic polynomial relationship was established between critical slipping force and air pressure, providing safety guidelines.

Conclusions:

• The novel airbag-based GIM ensures even gastroscope clamping, preventing scope damage.
• The developed mechanism offers precise control and efficient delivery, enhancing robotic assisted endoscopy.
• The findings provide crucial data for safe and effective robotic gastroscope interventions.