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A variable stiffness manipulator with multifunctional channels for endoscopic submucosal dissection.

Tao Liang1,2, Kang Kong3,4, Shuxin Wang1,2

  • 1Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China.

International Journal of Computer Assisted Radiology and Surgery
|March 31, 2023
PubMed
Summary
This summary is machine-generated.

A new 10mm robotic manipulator enhances endoscopic submucosal dissection (ESD) for early cancers. This device offers variable stiffness and integrated channels, improving surgical stability and accuracy.

Keywords:
Endoscopic submucosal dissectionMinimally invasive surgerySurgical robotVariable stiffness

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Area of Science:

  • Minimally invasive surgery
  • Robotics in medicine
  • Gastrointestinal endoscopy

Background:

  • Endoscopic submucosal dissection (ESD) is crucial for early esophageal and gastric cancers.
  • Current ESD devices face challenges with insufficient stiffness and large diameters, hindering operational ease.
  • There is a need for advanced manipulators to improve ESD procedure outcomes.

Purpose of the Study:

  • To develop a novel variable stiffness manipulator with multifunctional channels for improved ESD procedures.
  • To address the limitations of existing devices in terms of stiffness and diameter.
  • To enhance the precision and safety of endoscopic submucosal dissection.

Main Methods:

  • A 10mm diameter manipulator was designed with integrated CCD camera, optical fibers, instrument channels, and water/gas channels.
  • A compact wire-driven variable stiffness mechanism was incorporated.
  • Kinematics, workspace, and variable stiffness performance were analyzed and tested.

Main Results:

  • The manipulator demonstrated sufficient workspace and motion accuracy in tests.
  • Instantaneous stiffness variation of 3.55 times was achieved.
  • The robotic system proved safe and met operational requirements for motion, stiffness, imaging, and injection.

Conclusions:

  • The developed 10mm manipulator integrates six channels and variable stiffness, overcoming limitations of current ESD tools.
  • Kinematic analysis and performance tests confirm the manipulator's potential for clinical application.
  • This innovation is expected to enhance the stability and accuracy of endoscopic submucosal dissection operations.