EndoGoose: a flexible and steerable endoscopic forceps with actively pose-retaining bendable sections

Abstract Biopsy samples are removed by inserting an endoscopic accessory. The current passive biopsy forceps have limited controllable bending movement. There is a need for actively bendable forceps for biopsy, with a more excellent range of motion to navigate small corners with spatial constraints within the narrow anatomic region. EndoGoose, a flexible biopsy forceps, is conceptualized in conjunction with existing endoscopes to perform actively steerable biopsies. The flexible biopsy tool system for an endoscope comprises a bendable gooseneck section, forceps, and control box. The gooseneck is used to maintain the position of the forceps after the desired position is attained from active steering. It provides the rigidity when it is being pushed out of the endoscopes. It can withstand forces of gravity acting on the distal end, long enough for the biopsy sample to be grasped, without the need to continue applying a force from the proximal end to retain the position of the forceps. The standards and requirements are in regard to the operator’s needs. Metrics benchmarking and functional specifications highlight the capabilities and how the operator can interact with it. The acceptance criteria ensure the prototype is safe and effective for use.