A Novel Miniature Flexible Instrument With Unfolding and Decoupling Design for Endoscopic Surgery
Nowadays, gastrointestinal cancer has widely impacted people's health worldwide due to its high mortality rate. Early treatment of gastrointestinal cancer by endoscopic procedure can greatly increase survival rates of patients. Nevertheless, current flexible endoscopic instruments lack of degre...
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| Veröffentlicht in: | IEEE robotics and automation letters 2024-01, Vol.9 (1), p.787-794 |
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| creator | Zhang, Chi Wang, Yi Liang, Tao Kong, Kang Yao, Qiwen Zuo, Siyang |
| description | Nowadays, gastrointestinal cancer has widely impacted people's health worldwide due to its high mortality rate. Early treatment of gastrointestinal cancer by endoscopic procedure can greatly increase survival rates of patients. Nevertheless, current flexible endoscopic instruments lack of degree of freedom and surgical triangulation, thereby presenting challenges in the execution of endoscopic procedures. To solve these problems, this letter proposes a novel miniature dual-bending flexible instrument with an outer diameter of 2.8 mm and a length of 1100 mm, which is compatible with commercial endoscope and various endoscopic platforms. Discrete frame stacking structure with unfolding and decoupling design empowers the instrument to achieve high flexibility, accurate bending motions and surgical triangulation. The flexible instrument can achieve a large hemi-spherical workspace with a radius of 24 mm without considering linear movement. The measured tip positioning accuracy is better than 0.59 mm for wrist bending motion. Combined with the various end effectors, the instrument can perform complex endoscopic procedures facilitated by the leader-follower control method. Through in-vivo animal experiments, the clinical potential and practicality of the instrument have been demonstrated. |
| doi_str_mv | 10.1109/LRA.2023.3336492 |
| format | Article |
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Early treatment of gastrointestinal cancer by endoscopic procedure can greatly increase survival rates of patients. Nevertheless, current flexible endoscopic instruments lack of degree of freedom and surgical triangulation, thereby presenting challenges in the execution of endoscopic procedures. To solve these problems, this letter proposes a novel miniature dual-bending flexible instrument with an outer diameter of 2.8 mm and a length of 1100 mm, which is compatible with commercial endoscope and various endoscopic platforms. Discrete frame stacking structure with unfolding and decoupling design empowers the instrument to achieve high flexibility, accurate bending motions and surgical triangulation. The flexible instrument can achieve a large hemi-spherical workspace with a radius of 24 mm without considering linear movement. The measured tip positioning accuracy is better than 0.59 mm for wrist bending motion. 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Early treatment of gastrointestinal cancer by endoscopic procedure can greatly increase survival rates of patients. Nevertheless, current flexible endoscopic instruments lack of degree of freedom and surgical triangulation, thereby presenting challenges in the execution of endoscopic procedures. To solve these problems, this letter proposes a novel miniature dual-bending flexible instrument with an outer diameter of 2.8 mm and a length of 1100 mm, which is compatible with commercial endoscope and various endoscopic platforms. Discrete frame stacking structure with unfolding and decoupling design empowers the instrument to achieve high flexibility, accurate bending motions and surgical triangulation. The flexible instrument can achieve a large hemi-spherical workspace with a radius of 24 mm without considering linear movement. The measured tip positioning accuracy is better than 0.59 mm for wrist bending motion. Combined with the various end effectors, the instrument can perform complex endoscopic procedures facilitated by the leader-follower control method. Through in-vivo animal experiments, the clinical potential and practicality of the instrument have been demonstrated.</description><subject>Bending</subject><subject>Cancer</subject><subject>continuum structure</subject><subject>Control equipment</subject><subject>Control methods</subject><subject>Decoupling</subject><subject>Diameters</subject><subject>End effectors</subject><subject>endoscopic surgery</subject><subject>Endoscopy</subject><subject>ESD</subject><subject>Flexible instrument</subject><subject>gastrointestinal cancer</subject><subject>Instruments</subject><subject>Shoulder</subject><subject>Surgery</subject><subject>Surgical instruments</subject><subject>Triangulation</subject><subject>Wires</subject><subject>Wrist</subject><issn>2377-3766</issn><issn>2377-3766</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkM9LwzAUx4soOObuHjwEPG--JG3THsd-6GAqqMNjaJPXmdElNWnF_fd2zMNO7_vg830PPlF0S2FCKeQP67fphAHjE855GufsIhowLsSYizS9PMvX0SiEHQDQhAmeJ4OomJIX94M1eTbWFG3nkSxr_DVljWRlQ-u7PdqWfJr2i2xs5Wpt7JYUVpM5Ktc19XGdYzBbSyrnycJqF5RrjCLvnd-iP9xEV1VRBxz9z2G0WS4-Zk_j9evjajZdjxWLk3aclqKIFcQpZqAVFVDEpYKEKeBZyrIkyZjAWGdMs1wkJccSoKRVIpTOQZeKD6P7093Gu-8OQyt3rvO2fylZDpRTzvO4p-BEKe9C8FjJxpt94Q-Sgjy6lL1LeXQp_132lbtTxSDiGc5ZlmaM_wG6d29-</recordid><startdate>202401</startdate><enddate>202401</enddate><creator>Zhang, Chi</creator><creator>Wang, Yi</creator><creator>Liang, Tao</creator><creator>Kong, Kang</creator><creator>Yao, Qiwen</creator><creator>Zuo, Siyang</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Early treatment of gastrointestinal cancer by endoscopic procedure can greatly increase survival rates of patients. Nevertheless, current flexible endoscopic instruments lack of degree of freedom and surgical triangulation, thereby presenting challenges in the execution of endoscopic procedures. To solve these problems, this letter proposes a novel miniature dual-bending flexible instrument with an outer diameter of 2.8 mm and a length of 1100 mm, which is compatible with commercial endoscope and various endoscopic platforms. Discrete frame stacking structure with unfolding and decoupling design empowers the instrument to achieve high flexibility, accurate bending motions and surgical triangulation. The flexible instrument can achieve a large hemi-spherical workspace with a radius of 24 mm without considering linear movement. The measured tip positioning accuracy is better than 0.59 mm for wrist bending motion. 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| subjects | Bending Cancer continuum structure Control equipment Control methods Decoupling Diameters End effectors endoscopic surgery Endoscopy ESD Flexible instrument gastrointestinal cancer Instruments Shoulder Surgery Surgical instruments Triangulation Wires Wrist |
| title | A Novel Miniature Flexible Instrument With Unfolding and Decoupling Design for Endoscopic Surgery |
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