Force feedback soft endoscope intervention mechanism and its performance evaluation in digestive tract phantom

Robot-assisted digestive endoscopy intervention can solve the problems of doctor fatigue and intraoperative radiation. When doctors operate the robot, they cannot obtain the endoscope posture through the image under the microscope and lack the tactile feedback of manual operation, so they cannot accurately know the interaction force between the endoscope and human tissues. Therefore, this paper proposes an endoscope-assisted intervention robot with two-dimensional force perception, which can accurately measure axial force and rotational torque during the endoscopic intervention. The robot can be controlled by the master and slave to realize the continuous axial and circumferential motion of the endoscope. Several experiments were carried out to evaluate the operation accuracy and force detection accuracy of the robot, and an in vitro model experiment was conducted to verify the overall function of the robot.