A semi-automatic handheld mechatronic endoscope with collision-avoidance capabilities

We describe the design and results achieved in the development of a semi-automatic mechatronic tool for computer-assisted endoscopy. The aim of our research is to reduce the risk of damage to delicate anatomical parts in minimally invasive surgical interventions. To this purpose, in a stand-alone configuration, the mechatronic tool is able to detect contact between the steerable tip and surrounding tissues. With the addition of a localizer and an external control unit, a collision-avoidance mechanism prevents contact with pre-selected danger regions of the anatomy. This paper is focused on the architectural and functional description and on the experimental evaluation of the collision-avoidance mechanism. The results demonstrate that the endoscope is suitable for clinical practice, both in terms of spatial accuracy and reaction speed