Advancement of Flexible Endoscopic Robots Technologies for NOTES

Flexible endoscope is a crucial instrument for achieving natural orifice transluminal endoscopic surgery (NOTES). Due to the advantages of high safety, broad reachability, and flexible operation offered by the flexible endoscope, its operational techniques have been increasingly applied in various kinds of transluminal/intraluminal procedures. Considering the challenges posed by manual operations, such as difficulties, long learning curves, high labour costs, reliance on clinical experience, and exposure to harmful radiation, the development and utilization of robotic soft endoscopes can achieve safer, more precise, and intelligent NOTES procedures. This review aims to summarize the current research status of robotic flexible endoscopic robots in modelling, control, and planning aspects, while exploring the research trends and challenges in related technologies. Representative robotic soft endoscopy systems from both domestic and international sources are introduced, and the motion characteristics of existing robotic soft endoscopy systems are summarized. A comprehensive review of current robotic soft endoscopy technologies is conducted from the perspectives of modelling, control, and planning.This review concludes and analyses the deficiencies in current research and the challenges faced in the development of autonomous robotic soft endoscopy technology, while also providing prospects for future research directions in robotic soft endoscopy. © 2024 Chinese Mechanical Engineering Society. All rights reserved.