Jianbin Liu1, Linkun Yin1, James H Chandler2, Xin Chen3, Pietro Valdastri2, Siyang Zuo1. 1. Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China. 2. Institute of Robotics, Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK. 3. Tianjin Medical University General Hospital, Tianjin, China.
Abstract
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.
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.