Design and Evaluation of Magnetic Navigation Flexible Endoscope for Colorectal Treatment

Colorectal cancer is a global high incidence disease, and early screening and treatment can effectively reduce its incidence. Colonoscopy is the gold standard for screening. However, it still faces technical challenges, such as cross-infection, intestinal tissue injuries, and patient pain. In order to solve the above problems, we propose a magnetic navigation flexible endoscope (MNFE) and adopt a kinematic model. An MNFE was designed and manufactured by 3-D printing. The external magnetic field generated by the magnetic navigation system composed of eight electromagnets drives the movement and steering of the MNFE. Simulation results of the system demonstrate that magnetic fields in any desired direction can be generated. The experimental results show that the kinematic and magnetic field models effectively estimate the deformation of the tip of the MNFE. By comparing experiments with colonoscopy, the MNFE has higher flexibility and fewer tissue injuries. In the colorectal model, we verified the feasibility of the MNFE for inspection and treatment. Therefore, it will be possible to provide efficient methods for future clinical applications.