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A dual‐bending endoscope with shape‐lockable hydraulic actuation and water‐jet propulsion for gastrointestinal tract screening
Author(s) -
Liu Jianbin,
Yin Linkun,
Chandler James H.,
Chen Xin,
Valdastri Pietro,
Zuo Siyang
Publication year - 2021
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2197
Subject(s) - computer science , workspace , actuator , endoscope , inflatable , materials science , mechanical engineering , biomedical engineering , surgery , medicine , artificial intelligence , robot , engineering
Background Traditional flexible endoscopes are sophisticated medical devices that require frequent and expensive maintenance. Therefore, their implementation within low‐income and rural regions is challenging due to their high cost, complex sterilization process and poor portability. Aims This paper aims to develop an endoscopic platform that is low‐cost, disposable and portable, with the primary goal of reducing gastric cancer‐related mortality among low‐ and middle‐income communities through wider access to regular screening programs. Materials and Methods The endoscope employs a custom microvalve to switch between hydraulic actuation of a spatial bending fluidic actuator and water‐jet actuation. Three alloy wires with buckle attachments are connected to a pneumatic balloon which facilitates reversible shape‐locking of the actuator, and thus supports stable scanning by water‐jet actuation. Distal tip of the device has an internal charge‐coupled device camera for inspection. Results Experiments demonstrated a 58% increase in the workspace after introduction of the water‐jet and more than three times the load‐locking ability variation. Phantom experiment was also conducted for performance comparison with a traditional endoscope. Conclusion By controlling the pressure of supplied water and the inflation of locking balloon, the endoscope achieves a satisfactory workspace and a remarkable shape‐locking ability, demonstrating its potential clinical value in improving the prospects for upper gastrointestinal tract disease screening, especially gastric cancer.