Fig. 2 -.

Schematic overview of the control layers associated to autonomy levels. In the first layer, where no autonomy is available, the user manually controls the robot end effector in 5 degrees of freedom (DOF) in an attempt to manipulate the MFE. In the second layer, the user controls the endoscope and the system carries out suitable motions of the robot by taking into consideration localisation information and magnetic field interaction. In the third layer the user has discrete control over the endoscope, the lumen is detected and followed autonomously. In the standard definition of the autonomy levels, these correspond to Level-0, 1 and 3, respectively. Level-2 is defined as “task autonomy” and, in robotic endoscopy, describes autonomous execution of tasks such as retroflexion or guided biopsy.