A Suspended-Configuration Endoscopic Robotic Platform with Dual-Module Actuation for Enhanced Gastrointestinal Interventions

Robot-assisted gastrointestinal endoscopic surgery (RAGES) has emerged as a critical approach for minimally invasive procedures, including Endoscopic Submucosal Dissection, polypectomy, hemostasis, and therapeutic interventions. However, manual manipulation of flexible endoscopes remains technically demanding and limits surgical precision. To enhance surgical efficiency, this paper proposes a joystick-controlled Endoscopic Robotic System (ERS) comprising a Flexible Arm Delivery Device (FDD) and Main Body Driving Device (MDD). Through systematic structural design and validation, the ERS achieves stable four-DOF control: 360° circumferential rotation, 180° bending, 280–330 mm axial delivery, and ±15° rotational compensation. Key innovations include dual-encoder slippage detection in the FDD and a gripper assembly addressing circumferential angle loss through real-time torque sensing. Experimental results confirm compatibility with dual-channel endoscopes without custom modifications. The system demonstrates proof-of-concept for comprehensive endoscopic control while maintaining compact design (<0.2 m² per module) and low manufacturing cost. Although force-sensing capabilities require further refinement, this work establishes a foundation for accessible robotic platforms in gastrointestinal endoscopy, with identified limitations guiding future development toward clinical viability.