Development of a Novel Gastrointestinal Endoscopic Robot Enabling Complete Remote Control of All Operations: Endoscopic Therapeutic Robot System (ETRS)

Figure 1

The endoscopic therapeutic robot system (ETRS) consisting of a master unit of an endoscope control system (1), a master unit of a forceps control system (2), a slave unit of an endoscope control system (3), a control unit of a forceps control system (4), the tip of the endoscope (5), two personal computers (PC) (6), an endoscope monitor (7), a robot operation monitor (8), a PC monitor of an endoscope control system (9), a PC monitor of a forceps control system (10), two robot operation cameras (11), and an endoscope system.