title: Development of a novel endoscopic manipulation system: the Endoscopic Operation Robot ver.3.
abstract: OBJECTIVE
  The next generation of flexible endoscopy platforms such as The Master and Slave Transluminal Endoscopic Robot (MASTER) is primarily for remote control manipulation of forceps, but manipulation of the flexible endoscope itself still depends on conventional techniques. We have developed the Endoscopic Operation Robot (EOR) ver.3, which incorporates haptic feedback to provide complete remote control flexible-endoscope manipulation. The present study aimed to evaluate the performance of the EOR ver.3.
  
  
  METHODS
  A colonoscopy training model was used with scope insertion to the cecum. Force during insertion and insertion time (seconds) to the cecum were evaluated. The data were compared by colon zone and experience level (trainee or expert).
  
  
  RESULTS
  The mean insertion time into the cecum was 118.54 ± 89.42 seconds. Stronger force and torque were required for deeper insertion of the scope. Expert and trainee endoscopists differed in the insertion time to the cecum, maximum counterclockwise torque, mean clockwise torque, and mean counterclockwise torque.
  
  
  CONCLUSIONS
  The EOR ver.3 has operability with which endoscopists can easily familiarize themselves.
authors.affiliation: Third Department of Internal Medicine, University of Occupational and Environmental Health, Japan, School of Medicine, Kitakyusyu, Japan.
authors.forename: Keiichiro
authors.initials: K
authors.lastname: Kume
authors.affiliation: Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Kitakyusyu, Japan.
authors.forename: Nobuo
authors.initials: N
authors.lastname: Sakai
authors.affiliation: Department of Applied Science for Integrated System Engineering, Faculty of Engineering, Kyushu Institute of Technology, Kitakyusyu, Japan.
authors.forename: Takaaki
authors.initials: T
authors.lastname: Goto
mesh_terms: D002983:Clinical Competence; D003113:Colonoscopy / Q000193:education / Q000295:instrumentation*; D004867:Equipment Design; D006801:Humans; D059032:Learning Curve; D065287:Robotic Surgical Procedures / Q000193:education / Q000295:instrumentation*