Flexible endoscope manipulating robot using quad-roller friction mechanism

Area of Science:

• Robotics
• Medical Devices
• Surgical Technology

Background:

• Manual flexible endoscope operation presents accuracy and usability challenges.
• Existing robotic systems for endoscopes are often large and complex.
• Conventional control methods create slack, problematic for long endoscopes like colonoscopes.

Purpose of the Study:

• To develop a compact robotic system for precise flexible endoscope manipulation.
• To address limitations of existing robotic endoscope control systems.
• To improve surgical accuracy and patient safety through enhanced endoscope control.

Main Methods:

• A novel compact quad-roller friction mechanism for tip-based rotational and translational motion.
• Implementation of two pairs of tilted rollers for motion control within a confined space.
• An unsynchronized motion strategy between the endoscope handle and tip to manage slack.

Main Results:

• The proposed system accurately achieves rotational and translational motions.
• The unsynchronized control strategy effectively minimizes robotic motion near the patient.
• Up to 88% reduction in total translational motion was observed compared to previous methods.

Conclusions:

• The compact quad-roller system offers a viable solution for precise flexible endoscope control.
• The unsynchronized motion strategy enhances safety and usability in endoscopic procedures.
• This technology has the potential to improve outcomes in minimally invasive surgery.