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

Figure 1 The system of the endoscopic operation robot and colonoscope training model (f). It consists of the main unit (a), the manipulation unit (b), the aspiration control unit (c), the light source unit (d) and the aspiration unit (e)

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.

Figure 3 Learning curve assessed based on insertion time. EOR: Endoscopic operation robot.