Development of a novel robotic colonoscopy based on ergonomics designed manipulation system

Abstract

Background: Colonoscopy has been proven effective diagnostic and therapeutic tool that can be useful in diseases of colorectal lesions. The purpose of this study is to propose a robotic colonoscopy for patients infected by highly virulent contagious disease or patients in remote site where medical care is not possible. Methods: A slave robot was developed to hold the colonoscopy instead of endoscopist. This slave robot performs insertion, rolling motion, and two steering motions of the distal end of the fl exible endoscope. Also a master robot was developed to teach motions of the slave robot. In order to provide the endoscopist with haptic feeling, the insertion force and the rotating torque were measured and feedback to the master robot. Results: The endoscopist performed the master-slave robotic colonoscopy using a colon phantom. One endoscopist and two engineers participated in the robotic colonoscopy. The task completion time was comparable to conventional colonoscopy and gets decreased as they repeat the test. The haptic function was also helpful to feel the constrained force or torque inside colon. Conclusions: This work proposed a robotic approach for colonoscopy and this robotic device would be effective to perform colonoscopy for patients in remote site.