The international journal of medical robotics + computer assisted surgery : MRCAS · 2025
Design of a Continuum Surgical Robotic System for Bimanual Endoscopic Submucosal Dissection.
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Hu Haiyan, Zhang Heng, Chen Zhenhao, Tian Haojie, Yu Shumei, Jiang Yong
Аннотация
BACKGROUND: Digestive tract cancers are among the most common malignancies worldwide, and early diagnosis greatly improves patient prognosis. For instance, colorectal cancer has a 90% 5-year survival rate at early stages. Endoscopic Submucosal Dissection (ESD) is the standard treatment, but traditional flexible endoscopes pose operational and visual challenges.
METHODS: This paper proposes a dual-continuum robotic surgical system based on a cascaded vertebrae design. Kinematic and frictional modelling analyses were conducted to ensure stable operation of the surgical robotic system on a commercial endoscope. In addition, a teleoperation system was developed to enable bimanual ESD procedures.
RESULTS: Experimental validation confirmed the system's workspace, stiffness, hysteresis optimisation, and teleoperation accuracy. In an ex vivo ESD procedure performed on a porcine stomach, the system successfully resected a lesion with a diameter of 20 mm.
CONCLUSION: This continuum robotic system demonstrates strong clinical potential to enhance ESD performance and reduce procedural difficulty.
METHODS: This paper proposes a dual-continuum robotic surgical system based on a cascaded vertebrae design. Kinematic and frictional modelling analyses were conducted to ensure stable operation of the surgical robotic system on a commercial endoscope. In addition, a teleoperation system was developed to enable bimanual ESD procedures.
RESULTS: Experimental validation confirmed the system's workspace, stiffness, hysteresis optimisation, and teleoperation accuracy. In an ex vivo ESD procedure performed on a porcine stomach, the system successfully resected a lesion with a diameter of 20 mm.
CONCLUSION: This continuum robotic system demonstrates strong clinical potential to enhance ESD performance and reduce procedural difficulty.