Application of robotic technologies in lower gastrointestinal tract endoscopy: A systematic review

Figure 1 PRISMA flow diagram.

Figure 2 Examples of electromechanical robotic devices. A: The treaded “Endonculus” tethered robot in isolation; B: The treaded “Endonculus” robot with its full operational set up and printed circuit board.Citation for A and B: Formosa GA, Prendergast JM, Edmundowicz SA, Rentschler ME. Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope 2020; 36: 545-552. Copyright^© The Authors 2020. Published by IEEE. C: The Invendoscope System with the tip in the driving motor, in full flexion and with a biopsy forceps in the working channel. Citation: Groth S, Rex DK, Rösch T, Hoepffner N. High cecal intubation rates with a new computer-assisted colonoscope: a feasibility study. Am J Gastroenterol 2011; 106: 1075-1080. Copyright^© The Authors 2011. Published by American College of Gastroenterology. D: The six legged capsule device by Valdastri et al[25]. Citation: Valdastri P, Webster RJ, Quaglia C, Quirini M, Menciassi A Dario P. A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments. IEEE Transactions on Robotics 2009; 25: 1047-1057. Copyright^© The Authors 2009. Published by IEEE. E: A worm-like endoscope prototype. Citation: Wang K, Yan G. Micro robot prototype for colonoscopy and in vitro experiments. J Med Eng Technol 2007; 31: 24-28. Copyright^© The Authors 2007. Published by Taylor & Francis Ltd. F: Cross-sectional paddled capsular device; G: Complete paddled capsular device. Citation for F and G: Kim HM, Yang S, Kim J, Park S, Cho JH, Park JY, Kim TS, Yoon ES, Song SY, Bang S. Active locomotion of a paddling-based capsule endoscope in an in vitro and in vivo experiment (with videos). Gastrointest Endosc 2010; 72: 381-387. Copyright^© The Authors 2010. Published by Elsevier.

Figure 3 Examples of pneumatic robotic devices. A: The Aer-O-scope system. Citation: Gluck N, Melhem A, Halpern Z, Mergener K, Santo E. A novel self-propelled disposable colonoscope is effective for colonoscopy in humans (with video). Gastrointest Endosc 2016; 83: 998-1004.e1. Copyright^© The Authors 2016. Published by ELSEVIER open access. B: and C: The Endotics System. Citation: Cosentino F, Tumino E, Passoni GR, Morandi E, Capria A. Functional evaluation of the endotics system, a new disposable self-propelled robotic colonoscope: in vitro tests and clinical trial. Int J Artif Organs 2009; 32: 517-527. Copyright^© The Authors 2009. Published by SAGE Publications, Ltd.

Figure 4 An example of a magnetic device device by Ciuti et al[50]. A: The system architecture of the wireless magnetic robot; B: The Robotic arm with external permanent magnet. Citation for A and B: Ciuti G, Valdastri P, Menciassi A, Dario P. Robotic magnetic steering and locomotion of capsule endoscope for diagnosis and surgical endoluminal procedures. Robotica. Cambridge University Press 2010; 28: 199-207. Copyright^© The Authors 2010. Published by Cambridge University Press.

Figure 5 Examples of tethered magnetic robotic devices. A: Shows the overall tethered device and system with an image of the internal view provided by the device camera in Arezzo et al. Citation: Arezzo A, Menciassi A, Valdastri P, Ciuti G, Lucarini G, Salerno M, Di Natali C, Verra M, Dario P, Morino M. Experimental assessment of a novel robotically-driven endoscopic capsule compared to traditional colonoscopy. Dig Liver Dis 2013; 45: 657-662. Copyright^© The Authors 2013. Published by Elsevier. B: Shows the Endoo system with a clear image of the capsule in the lower left corner. Citation: Verra M, Firrincieli A, Chiurazzi M, Mariani A, Lo Secco G, Forcignanò E, Koulaouzidis A, Menciassi A, Dario P, Ciuti G, Arezzo A. Robotic-Assisted Colonoscopy Platform with a Magnetically-Actuated Soft-Tethered Capsule. Cancers (Basel) 2020; 12: 2485. Copyright^© The Authors 2020. Published by Open access.

Figure 6 Hybrid robotic device by Simi et al[58]. Citation: Simi M, Valdastri P, Quaglia C, Menciassi A, Dario P. Design, Fabrication, and Testing of a Capsule With Hybrid Locomotion for Gastrointestinal Tract Exploration. IEEE/ASME Trans Mechatron 2010; 15: 170-180. Copyright^© The Authors 2010. Published by IEEE.