Stable Gravity Compensation and 6-DoF Manipulation of a Tethered Magnetic Endoscope With an Optimized End-Effector

This paper presents the design and experimental validation of a magnetic end-effector optimized for the robust manipulation of a tethered magnetic endoscope in six-degrees-of-freedom (6-DoF). The symmetrical end-effector integrates two pairs of permanent magnets that generate a stable 2D attraction zone with a diameter exceeding 60 mm. This feature enables stable gravity compensation and precise control of centimeter-scale magnetic endoscopes. Experimental results demonstrate 6-DoF manipulation, stability and robustness against external disturbances, and successful navigation through obstacles in a confined environment. The stable gravity compensation allows to reduce friction and pressure on the endoscope's environment during navigation, which represent a key advantage for advancing minimally invasive medical procedures in general and colonoscopy in particular where minimizing pressure on the colon is critical. Future work will focus on enhancing the system through active control of the tether's length.