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Low cost robotic endoscope design considerations

An endoscopic robot capable of assisting medical professionals in the public health sector by providing imaging and biopsy functionalities during Gastrointestinal Tract (GIT) procedures at a reduced cost, was to be designed. The endoscope was designed using soft robotic technology and to use a novel approach to provide robust and precise control over the robot. The design is separated into functional sections: the head module, bending module, body module, the hydraulic system and control network. Material selection was based on suitability for use in the GIT and its ability to withstand medical cleaning. The results of computational analysis and simulation illustrated the robotic endoscope can be actuated utilising a bending module comprising of variably pressurised chambers and this actuation can be accurately controlled and allows system disturbances to being effectively rejected. The proposed design was evaluated against current endoscopes and indicated improvements in precision control of the motion of the endoscope and the cost of production, and the use of the endoscopes in a South African context.