Abstract
BackgroundEndoscopes are widely used for visualizing the respiratory tract, urinary tract, uterus, and gastrointestinal tracts. Despite high demand, people in underdeveloped and developing countries cannot obtain proper access to endoscopy. Moreover, commercially available endoscopes are mostly nonarticulable as well as not actively controlled, limiting their use. Articulating endoscopes are required for some diagnosis procedures, due to their ability to image wide areas of internal organs. Furthermore, actively controlled articulating endoscopes are less likely to harm the lumen than rigid endoscopes because they can avoid contact with endothelial tissues.ObjectiveThe study aimed to demonstrate the feasibility and acceptability of smartphone-based wide-field articulable endoscope system for minimally invasive clinical applications in developing and less developed countries.MethodsA thin articulable endoscope system that can be attached to and actively controlled by a smartphone was designed and constructed. The system consists of a flexible endoscopic probe with a continuum mechanism, 4 motor modules for articulation, a microprocessor for controlling the motor with a smartphone, and a homebuilt app for streaming, capturing, adjusting images and video, and controlling the motor module with a joystick-like user interface. The smartphone and motor module are connected via an integrated C-type On-The-Go (OTG) USB hub.ResultsWe tested the device in several human-organ phantoms to evaluate the usability and utility of the smartphone-based articulating endoscope system. The resolution (960 × 720 pixels) of the device was found to be acceptable for medical diagnosis. The maximum bending angle of 110° was designed. The distance from the base of the articulating module to the tip of the endoscope was 45 mm. The angle of the virtual arc was 40.0°, for a curvature of 0.013. The finest articulation resolution was 8.9°. The articulating module succeeded in imaging all 8 octants of a spherical target, as well as all 4 quadrants of the indices marked in human phantoms.ConclusionsThe portable wide-field endoscope was successfully controlled using a smartphone, yielding clear images with a resolution of 960 × 720 pixels at realistic focal distances. Actively and precisely controlled articulating movements have resulted in minimally invasive monitoring in the narrow space of internal organs providing a wide-area view. We found our smartphone-based active articulated endoscope to be suitable for point-of-care applications in developing and less developed countries.
Highlights
Over the past few decades, endoscopy has become a fundamental clinical approach for noninvasive screening and diagnosis of various diseases
We tested the device in several human-organ phantoms to evaluate the usability and utility of the smartphone-based articulating endoscope system
And precisely controlled articulating movements have resulted in minimally invasive monitoring in the narrow space of internal organs providing a wide-area view
Summary
Over the past few decades, endoscopy has become a fundamental clinical approach for noninvasive screening and diagnosis of various diseases. Endoscopy designers have expanded the range of functions to include longitudinal observation in noninvasive methods, simple medical procedures, biopsy, local therapy, or minimally invasive robotic surgery [1,2]. Despite their essential utilities for screening and diagnosis, clinical endoscopes rarely leave the hospital; they are used mainly for clinical applications such as biopsy and staging for diseases. In resource-poor undeveloped and developing countries, it is difficult to obtain proper endoscopy service. In addition to power deficiencies, several other problems in developing countries disrupt endoscopy service to serious levels. Actively controlled articulating endoscopes are less likely to harm the lumen than rigid endoscopes because they can avoid contact with endothelial tissues
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