Abstract
Abstract The integration of mechatronic systems to improve the control and maneuverability of endoscopes in complex gastroenterology procedures is necessary since manual handling often lacks precision. The result are flexible endoscopy robots. Therefore, the question arises as to how far these robots have evolved. This basically depends on their degree of autonomy and the typical interventions they are designed to perform. In this review, we provide an overview of existing flexible endoscopy robotic systems, categorizing their levels of autonomy and intended applications. Of the 28 systems reviewed, most operate at autonomy levels 0 (no autonomy) and level 1 (robotic assistance), with some progress toward level 2 (task automation) in colonoscopy. For more complex procedures, efforts are made to establish master-slave systems. Advances in flexible endoscopic robots are aimed at increasing autonomy, particularly for autonomous navigation within hollow organs. The integration of advanced sensor technologies is critical to achieving precise control and steering in future developments, and thus higher levels of autonomy for these systems.
Published Version
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