A Flexible Surgical Robotic System for Removal of Early-Stage Gastrointestinal Cancers by Endoscopic Submucosal Dissection
Publication in refereed journal


摘要Endoscopic submucosal dissection (ESD) is an effective and less invasive treatment for early gastric and colorectal cancers. Nevertheless, performing ESD through a flexible endoscope is technically challenging due to the limited controllability of the endoscopic instruments. Therefore, a surgical robotic system with high dexterity and better ergonomics ismuch needed. A master-slave dual-arm robot with customizing workspace for ESD is proposed for this study. The design is such that the procedure is completed without the need for changing the instrument. Our robot is mainly driven by tendon-sheath (TS) mechanism. Modeling and use of a controller for elongation compensation of tendon due to friction to increase position control accuracy are presented. Experiment shows that the controller greatly enhances the controllability of the robot. We have demonstrated that the design of the robot arm allows it to lift up to 48 g, which is sufficient for ESD. Six subjects, including three endoscopists and upper gastrointestinal surgeons, were invited to evaluate the system in anex vivo experiment. Experienced surgeons were able to complete a dissection within 30 min. We have demonstrated a prototype robot that can facilitate the ESD procedure with bimanual tissue dissection. The system is competent to remove a lesion area precisely. Further studies are needed to evaluate the system in vivo.
著者Lau KC, Leung EYY, Chiu PWY, Yam Y, Lau JYW, Poon CCY
期刊名稱IEEE Transactions on Industrial Informatics
頁次2365 - 2374
關鍵詞Continuum robot,endoscopic submucosal dissection (ESD),endoscopic surgery,surgical robot,tendon-sheath (TS)
Web of Science 學科類別Automation & Control Systems;Computer Science, Interdisciplinary Applications;Engineering, Industrial;Automation & Control Systems;Computer Science;Engineering

上次更新時間 2021-19-10 於 00:11