Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection

Gao, Huxin1,2,3,4; Yang, Xiaoxiao5; Xiao, Xiao6; Zhu, Xiaolong6; Zhang, Tao2,3; Hou, Cheng7; Liu, Huicong7; Meng, Max Q. -H.2,6; Sun, Lining7; Zuo, Xiuli5; Li, Yanqing5; Ren, Hongliang1,2,3,4,8

2023-11-01

10.1177/02783649231209338

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH   影响因子和分区

0278-3649

1741-3176

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: <12 mm, channel width: 2.8 mm and around 3.8 mm). Furthermore, we develop a surgical telerobotic system, called DREAMS (Dual-arm Robotic Endoscopic Assistant for Minimally Invasive Surgery), by using our smallest FPCW instruments for bimanual ESD procedures. First, we conduct a series of experiments to determine the FPCW's design and kinematics parameters and to verify the mechanical properties of the FPCW instruments' prototypes, including workspace, stiffness, strength, and teleoperation accuracy. Second, we validate the functionality of the FPCW instruments through ex-vivo tests by performing ESD steps on porcine stomachs. Finally, we perform an invivo test on a live porcine model and showcase that our developed DREAMS can be teleoperated intuitively to perform bimanual ESD efficiently with an average dissection speed of 108.95 mm(2)/min at the greater curvature in gastric body, which demonstrates that our DREAMS has satisfactory maneuverability as well as accuracy and is more competitive than counterpart robotic systems.

Medical robots and systems human-centered robotics and automation parallel robots mechanisms, design, and control telerobotics simulation interfaces and virtual reality

SCI ; EI

英语

其他

Robotics

Robotics

WOS:001109449400001

SAGE PUBLICATIONS LTD

20234715087871

Dissection ; Endoscopy ; Industrial robots ; Machine design ; Robotic surgery ; Stiffness

Medicine and Pharmacology:461.6 ; Biomedical Equipment, General:462.1 ; Mechanical Design:601 ; Robot Applications:731.6 ; Materials Science:951

ENGINEERING

Web of Science

1.Chinese Univ Hong Kong CUHK, Dept Elect Engn, Hong Kong, Peoples R China
2.Natl Univ Singapore, Dept Biomed Engn, Singapore, Singapore
3.Chinese Univ Hong Kong CUHK, Shun Hing Inst Adv Engn SHIAE, Hong Kong, Peoples R China
4.NUS Suzhou Res Inst NUSRI, Suzhou, Peoples R China
5.Shandong Univ, Qilu Hosp, Dept Gastroenterol, Jinan, Peoples R China
6.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen, Peoples R China
7.Soochow Univ, Sch Mech & Elect Engn, Suzhou, Peoples R China
8.Chinese Univ Hong Kong, Dept Elect Engn, SHB Room 404,Ho Sin Hang Eng Bld, Hong Kong 999077, Peoples R China

Gao, Huxin,Yang, Xiaoxiao,Xiao, Xiao,et al. Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2023.

Gao, Huxin.,Yang, Xiaoxiao.,Xiao, Xiao.,Zhu, Xiaolong.,Zhang, Tao.,...&Ren, Hongliang.(2023).Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH.

Gao, Huxin,et al."Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2023).