A Transnasal Endoscope for Robotically Assisted Gastroscopy

Abstract

A robotic transnasal endoscope (TNE) is developed to improve minimally invasive access to the upper gastrointestinal (GI) tract and support early cancer detection. The device is 4.25 mm in diameter and is designed to be compatible with transnasal access while preserving diagnostic and interventional capability achievable with bigger peroral access devices. The distal segment incorporates permanent magnets that enable precise remote manipulation through externally applied magnetic fields. A tendon‐driven variable stiffness mechanism provides high compliance during navigation and controlled stiffening for enhanced pushability, stability, and shape control. The feasibility of using the TNE for upper GI endoscopy is demonstrated through in vitro and in vivo evaluations. The robotic TNE achieves full navigation of the upper GI tract, including retroflexions, pyloric passage, duodenal access, and tissue biopsy. Robust maneuverability is maintained across stiffness states, confirming reliable control during complex motions. This approach has the potential to increase patient acceptance of routine screening and expand access to minimally invasive GI interventions.