Design and Evaluation of a Soft-Bodied Magnetic Anchored and Guided Endoscope

A major challenge of minimally invasive surgery (MIS), particularly in laparoendoscopic single site (LESS) surgery, is trocar crowding. Trocar crowding causes instruments fencing, limited instrument access and limited endoscope views. It also increases the workload of surgeons. One strategy to alleviate the problem is to use magnetic anchored and guided system (MAGS). Existing MAGS endoscopes are assembled by multiple miniature components and actuated by onboard motors. This makes them complex, difficult to manufacture as well as requires additional power consumption. In this work, we present a novel soft-bodied magnetic anchored and guided endoscope, which comprises of a silicon structure, the magnets and a wireless camera module. The developed endoscope incorporates benefits of both MAGS (e.g. wireless steering and translation) and soft-bodied devices (e.g. compactness, lightweight, safety and simple fabrication). We model the moment loads experienced by the silicon structure to optimize the design of the endoscope. Performance and feasibility of the endoscope are validated using both benchtop setting and animal cadaver.