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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Design and Modelling of Continuum Robot for Endoscopic Submucosal Dissection Surgery With Lifting Force Estimation.

Xingyao Zhang^1,2,3, Fuxin Du^1,2,3, Gang Zhang^1,2,3

¹The School of Mechanical Engineering, Shandong University, Jinan, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|September 11, 2024

Summary

A new continuum robot for endoscopic submucosal dissection (ESD) offers improved accuracy and force sensing. This robotic system enhances precision and safety in minimally invasive gastrointestinal cancer treatment.

Keywords:

continuum robots force estimation modelling sensing surgical robot

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Area of Science:

Robotics
Medical Engineering
Gastroenterology

Background:

Endoscopic submucosal dissection (ESD) is a key treatment for early gastrointestinal cancers.
Traditional surgical tools for ESD lack precision and force feedback capabilities.

Purpose of the Study:

To design and validate a novel continuum robot for enhanced ESD procedures.
To develop and test an accurate static model and force estimation method for the robot.

Main Methods:

A continuum robot for ESD was designed.
An accurate static model, accounting for C- and S-shaped bends, was established.
A force estimation method was developed and experimentally verified; ex-organ testing was performed.

Main Results:

The static model achieved an average position error of 0.72 mm (2.57% of robot length).
The force estimation method had an average error of 19.53 mN.
The robot successfully demonstrated functionality in gripping and cutting ex-vivo porcine gastric mucosa.

Conclusions:

The developed continuum robot and its associated models significantly improve precision and control in ESD.
This technology advances the potential for safer and more effective robotic-assisted gastrointestinal surgery.