Development of a novel endoscopic manipulation system: the Endoscopic Operation Robot ver.3

Abstract

The EOR ver.3 has operability with which endoscopists can easily familiarize themselves.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

“…In our system, we also applied a kinesthetic and haptic algorithm and demonstrated the usefulness of including a haptic feedback function. It should be noted here that there are some differences between our system and the system developed by Kume, et al18 The system by Kume, et al18 requires more space for slave unit compared to our system, because the colonoscope is mounted on a slave unit in a fully straightened shape, whereas our system can load and manipulate the scope in a flexed shape. Another difference is that our system is more user-friendly, because our system uses both hands, as with the usual colonoscopy procedure, while the system by Kume, et al18 uses one hand in a relatively complicated manner.…”

“…It should be noted here that there are some differences between our system and the system developed by Kume, et al18 The system by Kume, et al18 requires more space for slave unit compared to our system, because the colonoscope is mounted on a slave unit in a fully straightened shape, whereas our system can load and manipulate the scope in a flexed shape. Another difference is that our system is more user-friendly, because our system uses both hands, as with the usual colonoscopy procedure, while the system by Kume, et al18 uses one hand in a relatively complicated manner. In addition, Kume, et al18 equipped more accessory systems like inflation/suction functions, which are more similar to those in real colonoscopy procedure.…”

“…While their system showed the possibility of the clinical application of an endoscopic robot with the mechanization and standardization of endoscopic manipulation, it showed limitations due to the lack of a haptic feedback system. However, during the time when we were developing advanced robot colonoscopic system using haptic feedback algorithm, they also developed the Endoscopic Operation Robot ver.3, which incorporates haptic feedback 18. Presentation of force and tactile sensation are critical for easy and precise manipulation and safety of the endoscopic procedure, because unintended application of force could cause severe pain and result in complications like perforation.…”

“…Another difference is that our system is more user-friendly, because our system uses both hands, as with the usual colonoscopy procedure, while the system by Kume, et al18 uses one hand in a relatively complicated manner. In addition, Kume, et al18 equipped more accessory systems like inflation/suction functions, which are more similar to those in real colonoscopy procedure. This difference of accessory systems might explain the shorter insertion time of their system than ours because the inflation/suction of air would be important function for insertion of colonoscope.…”

Snap-on robotic wrist module for enhanced dexterity in endoscopic surgery

“…In addition, the unintuitive mapping between the endoscope controls and the distal dexterity required at the tip make ESD a prime candidate for robotic innovation. Several groups have explored robotic solutions to the technical challenges imposed by ESD and endoscopic procedures in general [7]- [12]. Such implementations typically feature stand-alone robotic systems or roboticized 'add-ons' (overtubes or endcaps) to existing endoscopic equipment, where proximal actuator packages control distal end-effectors passed through the endoscope's working ports or around the outside.…”