Integration of robotic in the reprocessing and transfer of endoscopes

Background and study aims  Optimal hygiene is crucial for patients undergoing flexible endoscopy. Reprocessing is currently influenced by manual procedures performed by endoscopy staff. To overcome this limitation, we designed and evaluated the integration of robotic application for an automated endoscope processing pathway. Methods  We used an endoscope reprocessing pass through machine with drying cabinet and a Franka Emika Panda robot. The robot was programmed to interact with its environment in a compliant way, guaranteeing desired contact force thresholds and therefore ensuring safety of both robot and medical equipment. Results  In an initial phase we tested the robots' ability to handle a modified tray holding an endoscope as well as certain challenges (correct positioning, connection of tubing, undesired collisions). We added another Panda robot arm resulting in a device featuring two independent manipulators and tested the accuracy of each individual step. We evaluated 50 consecutive processing and transfer procedures, simulating the average daily throughput of an endoscopic unit. The endoscopes were removed in adapted tray using a specially designed lifting device and placed in an endoscope storage and venting cabinet. The mean time for the handling of the scope was 104.2 ± 1.2 seconds and an accuracy of 100 % (0 failures in 50 attempts) was achieved. Conclusions  To the best of our knowledge, this is the first description and evaluation of an automated compliant robotic assistance in the processing of endoscopes. Further development could help to overcome shortcomings of the man handled endoscope processing and could lead to reproducible, standardized and certified endoscope processing.