Development of a novel endoscopic manipulation system: The Endoscopic operation robot

Figure 2 The system of the endoscopic operation robot. A: The left part of the main unit of the endoscopic operation robot (EOR) has four motors; the first motor controls up-down angulation (a), the second motor controls right-left angulation (b), the third motor controls rotation (c) and the fourth motor controls extension and retraction (d); B: The right part of the main unit of the EOR is the insertion part of the endoscope; C: The manipulation unit of the EOR. It includes a monitor, two joysticks, and three foot switches (no photos). The joystick on the right controls the up-down and right-left angulation knobs, and the joystick on the left controls tip rotation, extension, and retraction; D: The aspiration control unit (a), the light source unit (b) and the aspiration unit (d); E: Colonoscope training model produced by KYOTO KAGAKU Co., LTD. (Kyoto, Japan). EOR: Endoscopic operation robot.