Toward Safer GI Endoscopy With a Novel Robot-Assisted Endoscopic System

• Published in: IEEE robotics and automation letters Vol. 9; no. 11; pp. 9907 - 9914
• Main Authors: Feng, Guang, Wang, Sai, Li, Jinhua, Zuo, Siyang
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.11.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: active constraint; Assistive robots; Bending; Constraint handling; Constraints; Control systems; Endoscopes; Endoscopy; flexible endoscopy; Haptic interfaces; learning from demonstration; Learning systems; Localization; Main-secondary; Manipulators; Manual control; Medical robotics; Minimally invasive surgery; Orifices; Remote control; Robot arms; Robot control; robot safety; Robot-assisted surgery; Robotic surgery; Safety; Shafts

Increased demand for minimally invasive surgery has accelerated the adoption of natural orifice transluminal endoscopic surgery. Meanwhile, the increasing complexity of endoscopic procedures has raised the demand for endoscopist competence. In this paper, we present a novel endoscopic system to perf...