Design, Analysis, and Preliminary Validation of Magnetic Anchored and Cable Driven Endoscope for Minimally Invasive Surgery

Magnetic anchored and guided system(MAGS) is a promising solution for minimally invasive surgery, particularly in the realm of endoscope robotics. However, the inherent tight tissue contact in MAGS limits certain degrees of freedom, constraining the surgeon's ability to adjust the field of view. To address this, we propose a novel solution by combining magnetic actuation with a cable-driven flexible link. Our study encompasses the design, analysis of magnetic force/torque, and kinematics of the flexible link. One prototype was fabricated, and experiments, including the evaluation of magnetic coupling performance and the motion of the flexible link, were conducted. These experiments validated both the theoretical modeling and the functionality of the magnetic endoscope system.