Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection

Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection

In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses a great challenge in developing ESD instruments with small dimensions, flexibility, and high distal dexterity. In this wo...

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Veröffentlicht in:The International journal of robotics research 2024-03, Vol.43 (3), p.281-304
Hauptverfasser: Gao, Huxin, Yang, Xiaoxiao, Xiao, Xiao, Zhu, Xiaolong, Zhang, Tao, Hou, Cheng, Liu, Huicong, Meng, Max Q.-H., Sun, Lining, Zuo, Xiuli, Li, Yanqing, Ren, Hongliang
Format: Artikel
Sprache:eng
Schlagworte:
Design parameters
Dissection
Endoscopes
Endoscopy
Kinematics
Mechanical properties
Medical instruments
Robotics
Surgical instruments
Telerobotics
Wrist
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Zusammenfassung:In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses a great challenge in developing ESD instruments with small dimensions, flexibility, and high distal dexterity. In this work, we propose the first Transendoscopic Flexible Parallel Continuum Robotic mechanism to develop a miniature dexterous flexible-stiff-balanced Wrist (FPCW). Besides, it can steer multifunctional instruments of diameters 2.5 mm to 3.5 mm, including the electrosurgical knife, injection needle, and forceps. Our FPCW instruments are adaptable to commercially available dual-channel endoscopes (diameter:
ISSN:0278-3649
1741-3176
DOI:10.1177/02783649231209338