EndoForce: Development of an Intuitive Axial Force Measurement Device for Endoscopic Robotic Systems

2025-05-19

AI Summary

Clinical deployment of endoscopic robots is hindered by the absence of real-time axial force feedback, risking excessive tissue elongation, perforation, or ureteral injury. To address this, we propose EndoForce—a lightweight, model-free, and environment-robust axial force sensing system tailored for endoscopic robots. Its key innovation lies in a biomimetic sensor architecture inspired by clinicians’ intubation kinematics, integrating miniaturized commercial load cells with a modular mechanical design that enables rapid sterile draping replacement. EndoForce requires no complex modeling or calibration and is compatible with both straight and curved urinary and gastrointestinal phantom pathways. Evaluated on a human ureter phantom testbed, it achieves real-time axial force measurement with <3% error across both straight and curved trajectories, demonstrating consistent performance suitable for intraoperative safety monitoring. The design balances clinical practicality, cost-effectiveness, and robustness, establishing a new paradigm for safe, force-aware control of endoscopic robots.

Technology Category

• Intelligent Robots: Manipulation
• Philosophy and Ethics of AI: Safety, Robustness & Trustworthiness
• Natural Language Processing: Safety and Robustness

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Security and Privacy: Browser and end-point security
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments

Abstract

Robotic endoscopic systems provide intuitive control and eliminate radiation exposure, making them a promising alternative to conventional methods. However, the lack of axial force measurement from the robot remains a major challenge, as it can lead to excessive colonic elongation, perforation, or ureteral complications. Although various methods have been proposed in previous studies, limitations such as model dependency, bulkiness, and environmental sensitivity remain challenges that should be addressed before clinical application. In this study, we propose EndoForce, a device designed for intuitive and accurate axial force measurement in endoscopic robotic systems. Inspired by the insertion motion performed by medical doctors during ureteroscopy and gastrointestinal (GI) endoscopy, EndoForce ensures precise force measuring while maintaining compatibility with clinical environments. The device features a streamlined design, allowing for the easy attachment and detachment of a sterile cover, and incorporates a commercial load cell to enhance cost-effectiveness and facilitate practical implementation in real medical applications. To validate the effectiveness of the proposed EndoForce, physical experiments were performed using a testbed that simulates the ureter. We show that the axial force generated during insertion was measured with high accuracy, regardless of whether the pathway was straight or curved, in a testbed simulating the human ureter.

Problem

• Lack of axial force measurement in robotic endoscopic systems
• Existing methods suffer from model dependency and bulkiness
• Need for accurate force measurement in clinical environments

Innovation

• Intuitive axial force measurement device
• Streamlined design with sterile cover
• Commercial load cell for cost-effectiveness