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

我开发了第二代内窥镜手术机器人（EOR），这是一种主从机器人，使用两个摇杆进行当前柔性内窥镜的4轴操作，包括上下成角、左右成角、旋转和内窥镜插入-撤回。然而，柔性内窥镜在胃肠道中的操纵，特别是在具有复杂曲率的结肠中的操纵，需要结合来自内窥镜插入的胃肠道的反作用力和内窥镜本身的柔性的力感觉。因此，我开发了一种EOR版本3，其主单元可感知力，具有内置双向触觉反馈，可将等于内窥镜医生施加到主单元的力传递到内窥镜头端，并可实现单手4轴操作。

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.