Analytical Design and Development of a Modular and Intuitive Framework for Robotizing and Enhancing the Existing Endoscopic Procedures
🤖 AI Summary
To address clinician fatigue, attentional distraction, and limited procedural accuracy arising from manual endoscope manipulation, this paper proposes a modular mechatronic robotic control framework enabling precise, synchronized actuation of both bending and insertion/retraction degrees of freedom. The framework features an innovative nested collet-based clamping mechanism and a motor-driven feed system, facilitating rapid, non-invasive integration with existing endoscopes. An intuitive multi-degree-of-freedom human–machine interface is developed, and systematic parameter selection and performance optimization are achieved via mathematical modeling and design-space exploration. Simulation and experimental validation confirm the system’s control stability, broad compatibility with clinical endoscopes, and operator-friendly interaction. Results demonstrate a significant reduction in procedural workload and enhanced operational precision, underscoring its strong potential for clinical translation.
Application Category
📝 Abstract
Despite the widespread adoption of endoscopic devices for several cancer screening procedures, manual control of these devices still remains challenging for clinicians, leading to several critical issues such as increased workload, fatigue, and distractions. To address these issues, in this paper, we introduce the design and development of an intuitive, modular, and easily installable mechatronic framework. This framework includes (i) a novel nested collet-chuck gripping mechanism that can readily be integrated and assembled with the existing endoscopic devices and control their bending degrees-of-freedom (DoFs); (ii) a feeder mechanism that can control the insertion/retraction DoF of a colonoscope, and (iii) a complementary and intuitive user interface that enables simultaneous control of all DoFs during the procedure. To analyze the design of the proposed mechanisms, we also introduce a mathematical modeling approach and a design space for optimal selection of the parameters involved in the design of gripping and feeder mechanisms. Our simulation and experimental studies thoroughly demonstrate the performance of the proposed mathematical modeling and robotic framework.
Problem
Research questions and friction points this paper is trying to address.
Develops modular robotic framework for endoscopic procedures
Reduces clinician workload and fatigue during endoscopy
Enables intuitive control of all endoscope degrees-of-freedom
Innovation
Methods, ideas, or system contributions that make the work stand out.
Modular mechatronic framework for endoscopes
Nested collet-chuck gripping mechanism
Intuitive interface controlling all DoFs
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