A Variable-Length, Variable-Stiffness Soft Endoscope (VL-VS-SE) for Upper Gastrointestinal Tract  

Journal: Journal of Robotics Research (JRR), Volume:1, Issue:1, Pages: 1-6  Download pdf

Authors: Heba Ali Mohsen, Alaa Al-Ibadi, Turki Y. Abdalla

Date: 7-2024

Abstract: Endoscopy usually uses to investigate and diagnose numerous types of illnesses and infections. This procedure has been used successfully in the fields of thoracic surgery, urology, and in recent years gynecology. The process of Endoscopy occurs by inserting the endoscope inside the human body through the natural orifices of the body to diagnose health problems either in the upper gastrointestinal (GI) tract, which comprises the oral cavity, pharynx, esophagus, stomach, and small intestine, or the lower gastrointestinal (GI) tract, which includes of the large intestine and the anus. While the process is dealing with the soft organs, this article proposes a variable stiffness soft endoscope to ensure no impact on the human body is occurring. The endoscope is fully designed and manufactured by using a contraction pneumatic muscle actuator (PMA). The proposed device has the ability to change its length and stiffness. These features are controlled by experts. The system provides a live video by attaching a high-resolution camera at the front end.

Keywords: Endoscope, Mouth, Esophagus, PMA, Variable Length, Variable Stiffness, Human.

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