Review Article
Progress in Control-Actuation Robotic System for Gastrointestinal NOTES Development
Table 1
Control-actuation robotic systems for gastrointestinal NOTES.
| System | Diameter of overtube (mm) | DOF | Gripping force [N] | Research progress |
| ViaCath | 19 | | 3 | Animal in vivo | EndoSAMURAI™ | 18 | | — | Animal in vivo | EndoMaster | 19.5 | 9 | 2.87 | Patient trial | Testbed (Zhao) | 12 | | — | Animal in vitro | Robot (Lau) | 18 | | 0.47 | Animal in vitro | STRAS | 16 | | 0.9 | Animal in vitro | CYCLOPS | 30 | | 19 | Vivo preclinical | EndoMaster EASE | — | | 5.8 | Patient trial | K-FLEX | 17 | 14 | 2.94 | Animal ex vivo |
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