Towards clinical application of continuum active micro-endoscope robot based on EAP actuation

Continuum robots have shown astounding abilities in the medical field as numerous robotized devices have emerged. For instance, colonoscopes, arthroscopes, catheters, endoscopes, and other medical tools have been developed [1]. Their ability to navigate through complex anatomy and narrow spaces represent the attractive features of continuum robots. We foresee to improve their usefulness for Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES). These robots may be downscaled depending on the target application, e.g., from endoscopy to neurosurgery. Shorter hospital stay, less pain and scarring, and quicker recovery might then be provided to the patient. Recently, active cannulas have been used for endonasal skull base surgery for pituitary gland cancer [2] as depicted in Figure 1a, transurethral laser prostate surgery [3], laser surgery [4], beating heart surgery [5], and neurosurgery [6]. Thus, we are interested in developing a micro-endoscope whether for diagnosis or laser surgery.