Implementation of a Novel Handheld Endoscopic Operation Platform (EndoGRASP)

Abstract

Flexible endoscopes are widely used due to their effective treatment of various conditions with minimal surgery. Existing ESD platform, such as Incisionless operation platform (IOP) [1] and ANUBIScope [2], while they may offer reliable support for endoscopic bending, they lack the ability to provide precise motorized motion or may potentially restrict the maneuverability of the platform in confined endoluminal environments. Another more advanced operation platform, namely EndoMaster [3], while providing excellent visualization of the surgical area due to its compact design, which allowed for easy docking and prevented interference from the working arms, however, its complex operational requirements, where the surgeon must control the console remotely and manipulate the robotic arms using hand controls, can be time-consuming and challenging for the surgeon to master. Over-the-Scope Clip (OTSC) [4] use a device that places clips over the endoscope to hold tissue before removal, but the effectiveness of these clips in securing the tissue is sometimes inadequate, resulting in incomplete tissue acquisition and suboptimal surgical outcomes. Existing operating systems face challenges such as limited mobility, insufficient tissue collection, complex setup, and high costs. EndoGRASP, a novel handheld endoscopic platform, addresses these issues with its flexible robotic overtube and actuation unit. Optimized for efficient endoscopic submucosal dissection, it enhances patient safety and ensures precise, motorized control of the endoscope and instruments.