Application of robotics in gastrointestinal endoscopy: A review

Figure 1 The RS-ALC system: A conventional endoscope is mounted onto electromechanical control wheels. Control of the system is through a joystick device. Courtesy of Dr Pullens, Meander MC, Netherlands.

Figure 2 EOR version 3. The system consists of various actuators to execute forward/backward, rotational, up/down, left/right movement of a conventional endoscope. Courtesy of Professor Kume, Kyushu University, Japan.

Figure 3 Invendoscope. The scope design is akin to a conventional endoscope. The scope is protected by a disposable inverted sheath which unfurls when the endoscope is pushed forward by the actuating wheels (Invendo Medical Ltd).

Figure 4 Neoguide with its multiple bending segments enabling it to manoeuvre in a tail follow nose manner. Eickhoff et al[47], 2007.

Figure 5 The Aeroscope relies on a balloon at the tip of the endoscope to form a seal with surrounding colonic wall. A computerized pump system generates a pressure gradient proximal and distal to the balloon. This pressure gradient propels the device. Courtesy of GIview Ltd.

Figure 6 Endotics double balloon probe. Locomotion is executed using the inch-worm mechanism. Courtesy of Endotics SRL, Italy.

Figure 7 CUHK double balloon endoscope with its proximal and distal balloon connected by an extension section. A capsule endoscope is mounted at the tip of this endoscope prototype. Poon et al[53], 2015.

Figure 8 The MASTER system is a robotic arm system that can be mounted onto a conventional endoscope. Phee et al[68], 2012.

Figure 9 ISIS-Scope/STRAS system is a electromechanically controlled ANUBISCOPE. De Donno et al[72], 2013.

Figure 10 The Endomima system can be mounted onto a conventional endoscope. The arms allow passage of conventional flexible instruments. Each arm has up to 3 DOF of movement (Endotools Therapeutics). Roppenecker et al[129].

Figure 11 Scorpion like endoscopic robot is an externally mountable robot arms system. It is actuated by external actuators through traction cables (right). Suzuki et al[74], 2010.

Figure 12 On the left, the endoscope and the viacath robotic arms are integrated using an overtube. Abbott et al[75], 2007.

Figure 13 CUHK robotic arm prototype. Poon et al[77], 2014.

Figure 14 Imperial College robotic arm prototype. Seneci et al[80], 2014.