Colonoscopy procedures are commonly performed to diagnose and prevent colorectal cancer. These procedures require highly trained practitioners to perform complex maneuvers with an endoscope. Extensive training is necessary to become proficient. To improve assessment during endoscope training the novel endoscopic control assessment system (ECAS) is proposed. This device uses a magnetic tracker to track the end of the endoscope in manikin training. In addition, camera imaging is used to track the angle of the control knobs during the training. Experiment 1 demonstrated that the magnetic tracker could sense the full range of motion of the endoscope. Experiment 2 showed that the control knob angle could be accurately tracked through 4 positions to within 0.6° accuracy. The feasibility of the ECAS system was shown and in the future, this can be employed as an effective means of assessing endoscopic training performance.

A model has been developed to design a new active, steerable end-effector for minimally invasive surgery. Active material is incorporated into the surgical instrument to increase the degrees of freedom available to the surgeon. This paper focuses on the modeling of the end-effector using both piezoelectric ceramic and electroactive polymer (EAP) materials. The end-effector design consists of a number of bimorph actuator sections in series with each active layer being individually controlled. Each section may behave as either a bimorph or a unimorph actuator, where in the case of unimorph one of the active layers is passive. By varying the strength and direction of the electric field across each section, a prescribed overall shape can be achieved to allow the user to steer the device. The piezoceramic device is modeled using strain energy methods to predict the quasi-static force-deflection behavior. In the EAP model, experimental data for the electrostrictive P(VDF-TrFE) copolymer is used to model the non-linear relationship between the electric field and the induced strain. Due to the large deflections achievable with the EAP, a model for large deflections beams is also used. Modeling is carried out using MATLAB and then the behavior of piezoelectric ceramic is compared to that of electro-active polymer (EAP).

To detect and treat colorectal cancers endoscopes are commonly used to perform colonoscopies, with an estimated 15 million performed in America every year. Endoscope designs rely on physicians physically pushing the long device into position through the intestine thereupon applying potentially damaging forces to the intestinal wall. To improve endoscopic procedures this paper presents the novel concept of Inverted Tubular Element Locomotion (ITEL) to reduce interaction forces between the endoscope and the intestine wall. Experiments are performed that demonstrate functionality of the tubular design and less than 3.5 kPa to deploy. The tube material thickness has a linear relationship with the force required. This unique design has the potential to enhance patient safety and to improve procedural efficiency.