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Design and Modelling of Continuum Robot for Endoscopic Submucosal Dissection Surgery With Lifting Force Estimation.
Zhang, Xingyao; Du, Fuxin; Zhang, Gang; Wu, Ke; Zheng, Gang; Li, Yibin; Song, Rui.
Affiliation
  • Zhang X; The School of Mechanical Engineering, Shandong University, Jinan, China.
  • Du F; The Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, Shandong University, Jinan, China.
  • Zhang G; The Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan, China.
  • Wu K; The School of Mechanical Engineering, Shandong University, Jinan, China.
  • Zheng G; The Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education, Shandong University, Jinan, China.
  • Li Y; The Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Shandong University, Jinan, China.
  • Song R; The School of Mechanical Engineering, Shandong University, Jinan, China.
Int J Med Robot ; 20(5): e2670, 2024 Oct.
Article in En | MEDLINE | ID: mdl-39258726
ABSTRACT

BACKGROUND:

Endoscopic submucosal dissection (ESD) is an effective treatment for early-stage gastrointestinal cancers. However, traditional surgical instruments lack accuracy and force-sensing.

METHODS:

A new type of continuum robot for ESD is designed. An accurate static model of the proposed continuum robot is established, considering cases where the robot bends into C-shapes and S-shapes. A force estimation method based on an accurate static model is proposed. Then, the accuracy of the static model and force estimation is verified through experiments. Finally, an ex-organ experiment is carried out.

RESULTS:

The average position error of the proposed static model is 0.72 mm, accounting for 2.57% of the total robot length. The average error of force estimation is 19.53 mN. By gripping and cutting ex-porcine gastric mucosa, the robot's functionality is validated.

CONCLUSION:

This paper contributes to precise control and safe interaction of continuum robots.
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Full text: 1 Collection: 01-internacional Database: MEDLINE Main subject: Equipment Design / Robotic Surgical Procedures / Endoscopic Mucosal Resection Limits: Animals / Humans Language: En Journal: Int J Med Robot Year: 2024 Document type: Article Affiliation country: China Country of publication: United kingdom
Fulltext
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Full text: 1 Collection: 01-internacional Database: MEDLINE Main subject: Equipment Design / Robotic Surgical Procedures / Endoscopic Mucosal Resection Limits: Animals / Humans Language: En Journal: Int J Med Robot Year: 2024 Document type: Article Affiliation country: China Country of publication: United kingdom