In minimally invasive surgery, conventional endoscopic procedures often have limited flexibility, a lack of direct control by the operator, and a lack of haptic feedback to the user. Navigation accuracy through the colon can be reduced because of these limitations, which increase the risk of tissue damage to the intestinal walls. This study validates the use of a soft robotic origami-based endoscope with head-mounted control and haptic feedback to address these challenges. In user trials, participants were asked to follow a pre-determined 2D path trajectory representing the colon tract as closely as possible. The user accuracy and experience of various haptic feedback methods, including vibrational and kinesthetic feedback, were analysed.
In this presentation, the results of this study will be presented and analysed.