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Design, Modeling, and Validation of a Pneumatically Actuated Distal Segment for Endoscopy.

Charlotte Deroubaix¹, Simon Den Haene¹, Ramzi Ben Hassen¹

¹BEAMS-BioMechatronics Department, Université libre de Bruxelles, Bruxelles, Belgium.

|May 12, 2026

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This study introduces a semi-disposable pneumatic endoscope to reduce medical waste. The novel design features a reusable handle and a disposable, pneumatically actuated insertion tube for greener endoscopy.

Area of Science:

Biomedical Engineering
Medical Devices
Robotics

Background:

Reusable endoscopes pose cross-contamination risks.
Single-use endoscopes increase medical waste and costs.
Greener endoscopy solutions are needed.

Purpose of the Study:

To propose a semi-disposable pneumatic endoscope concept.
To design, model, and prototype a flexible, pneumatically actuated endoscopic tube.
To address challenges in soft actuation for endoscopic devices.

Main Methods:

Developed a finite element model to simulate silicone flexible segment bending.
Investigated geometrical parameters like pneumatic chamber diameter and wall thickness.
Implemented a ring-based constraint system to manage radial expansion.

Keywords:

FEM minimally invasive surgery pneumatic endoscope simulation soft actuators

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Main Results:

Simulations predicted and prototypes validated bending up to 180°.
Radial expansion was minimized without compromising bending.
The 14 mm outer diameter design integrates essential gastroscope functionalities.

Conclusions:

A viable semi-disposable pneumatic endoscope concept was demonstrated.
The design offers a sustainable alternative to current endoscopic practices.
Potential for variable stiffness integration enhances clinical applicability.