# Design and evaluation of new user control devices for improved ergonomics in flexible robotic endoscopy

## TL;DR

This paper introduces two ergonomic control devices for robotic endoscopy, tested for usability and effectiveness in a simulated colonoscopy environment.

## Contribution

The study proposes and evaluates two new ergonomic handheld control devices for flexible robotic endoscopy.

## Key findings

- Both models demonstrated clinical suitability with scores of 4.8 and 5.2 out of 6 in user evaluation.
- The proposed colonoscopy simulator is useful for evaluating different control mapping modes.

## Abstract

The ergonomics of flexible endoscopes require improvement as the current design carries a high risk of musculoskeletal injury for endoscopists. Robotic systems offer a solution by separating the endoscope from the control handle, allowing a focus on ergonomics and usability. Despite the increasing interest in this field, little attention has been paid towards developing ergonomic human input devices. This study addresses two key questions: How can handheld control devices for flexible robotic endoscopy be designed to prioritize ergonomics and usability? And, how effective are these new devices in a simulated clinical environment?

Addressing this gap, the study proposes two handheld input device models for controlling a flexible endoscope in four degrees of freedom (DOFs) and an endoscopic instrument in three DOFs. A two-stage evaluation was conducted with six endoscopists evaluating the physical ergonomics and a final clinical user evaluation with seven endoscopists using a virtual colonoscopy simulator with proportional velocity and position mapping.

Both models demonstrated clinical suitability, with the first model scoring 4.8 and the second model scoring 5.2 out of 6 in the final evaluation. In sum, the study presents two designs of ergonomic control devices for robotic colonoscopy, which have the potential to reduce endoscopy-related injuries. Furthermore, the proposed colonoscopy simulator is useful to evaluate the benefits of different mapping modes. This could help to optimize the design and control mechanism of future control devices.