Development of a novel endoscopic manipulation system: The Endoscopic Operation Robot

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I developed a second generation of The Endoscopic Operation Robot (EOR), a master-slave robot that uses two joysticks for 4-axis manipulation of current flexible endoscopes, including up-down angulation, left-right angulation, rotation, and endoscope insertion-retraction. However, manipulation of a flexible endoscope in the GI tract, particularly in the colon with its complex curvature, requires force sensation that combines the reaction force from the GI tract where the endoscope is inserted and the flexibility of the endoscope itself. Therefore, I developed an EOR ver.3 with a master unit that senses force, has built-in bidirectional haptic feedback that transmits a force equal to that applied to the master unit by the endoscopist to the endoscope tip, and that enables 4-axis manipulation with one hand.