Table 6.
Robotic scope holders used for flexible endoscopes, by year
| Name | DOF | Manipulation type | Actuation method | Control type & level of automation | Control interface | Development stage | Year | Clinical application |
|---|---|---|---|---|---|---|---|---|
| NeoGuide endoscopy system (NeoGuide Systems Inc., USA)a [128–131] | – | Steering with natural loop maintained |
Electromechanical motor |
Teleoperated Semi-autonomous |
Open console system with joystick (Computer console shapes according to natural loops of colon) |
Commercial (defunct) | 2007 (FDA) |
Investigational procedure Colonoscopy |
| Endotics endoscopy System (Era Endoscopy SRL, Italy) [130, 132, 133] | – | Steering | Pneumatic |
Teleoperated Semi-autonomous (Self-propelling) |
Workstation with hand-held console | Commercial | 2009 (CE) |
Investigational procedure Colonoscopy |
| Endodrive (ECE Medical systems, Germany) [84, 134, 135] | – | Shaft insertion, retraction | Electro-mechanical |
Teleoperated Master–slave |
Foot pedal | Commercial | 2010 |
Investigational procedure Colonoscopy, biopsy Surgery—minimally invasive Polypectomy |
| Avicenna Roboflex (ELMED Medical Systems, Türkiye) [136, 137] | – | Forward/backward, insertion/retraction, rotation, deflection | Motor |
Teleoperated Master–slave |
Console with touchscreen and hand manipulator controls (wheel & joystick) | Commercial | 2013 (CE) |
Investigational procedure Flexible ureterorenoscopy Surgery—minimally invasive Urology (retrograde intrarenal surgery) |
| Teleflex (University of Twente, Netherlands) [10, 138] | 4 |
Distal tip actuation (up/down, left/right) Shaft translation, rotation |
Motor |
Teleoperated Master–slave |
Hand control Head movements |
Research prototype (lab studies) | 2013 |
Surgery—minimally invasive Transoral gastrointestinal procedures |
| Aer-O-Scope (GI View, Israel) [139–141] | – | Steering | Pneumatic |
Teleoperated Semi-autonomous (Self-navigation) |
Open workstation with full joystick control (Computer algorithm adjusts pressure) |
Commercial | 2016 (FDA) |
Investigational procedure Colonoscopy |
| invendoscopy E200 System (invendo medical, Germany)b [29, 142, 143] | – |
180° tip deflection Tip steering, shaft translation |
Electromechanical motor |
Teleoperated Master–slave |
Open invendo ScopeController with hand-held joystick | Commercial | 2016 (FDA) |
Surgery—minimally invasive Colonoscopy Polypectomies |
| Gastroscope intervention mechanism (GIM) (Chinese Academy of Sciences, China) [144] | 2 | Push-pulling, rotating | Pneumatic pressure |
Teleoperated Master–slave |
Hand control joystick | Research prototype (in vivo live animal studies) | 2017 |
Investigational procedure Gastroscopy |
| Endoscopic operation robot (EOR) (Kyushu Institute of Technology, Japan) [145, 146] | 4 | Up/down & left/right angulation, insertion/retraction, rotation | Motor |
Teleoperated Master–slave |
Hand control mini-joystick & knobs | Research prototype (lab studies) | 2018 |
Investigational procedure Colonoscopy Surgery—minimally invasive Endoscopic submucosal dissection (ESD) in porcine model |
| Robotic-assisted flexible endoscope (RAFE) (Kyushu University, Japan) [127] | 4 | Up-down, right-left, back–forth, twisting | Motor |
Teleoperated Master–slave |
One-handle master controller | Research prototype (porcine model) | 2018 |
Surgery—minimally invasive Endoscopic submucosal dissection (ESD) |
| Sivananthan, Kogkas [147] (NHS & Imperial College London, UK) | – | Steering, advancement, withdrawal, retroflexion | Motor |
Teleoperated Master–slave |
Eye gaze tracking glasses, head control, joystick (insertion/withdrawal) | Research prototype (lab studies) | 2021 |
Surgery—minimally invasive Endoscopic submucosal dissection (ESD) |
aNeoGuide was acquired by Intuitive Surgical Inc., US
bInvendo medical was acquired by Ambu, Denmark