Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery.

Area of Science:

• Robotics
• Gastroenterology
• Surgical Technology

Background:

• Endoscopic submucosal dissection (ESD) is a key treatment for early gastrointestinal tumors, often replacing traditional surgery.
• Current robotic systems for ESD struggle with dexterity and precision in confined anatomical spaces.
• Limitations in actuation and mechanical design hinder the effectiveness of existing robotic ESD tools.

Purpose of the Study:

• To introduce a novel motorless, master-slave soft robotic system for enhanced endoscopic submucosal dissection (ESD).
• To address the challenges of accessibility, dexterity, and precision in confined spaces during ESD procedures.
• To develop a hydraulically actuated soft robotic system for safer and more effective gastrointestinal tumor removal.

Main Methods:

• Development of a master-slave soft robotic system powered entirely by hydraulic actuation.
• Integration of dual soft robotic arms: one for electrosurgical tools and one as a 3-jaw soft tubular grasper.
• Utilizing a nature-inspired grasper design to ensure even force distribution and minimize rotational motion.

Main Results:

• The hydraulic system successfully powered soft robotic arms for ESD tasks without DC motors or electronic controllers.
• The soft grasper demonstrated effective tissue gripping and electrosurgical cutting capabilities on simulated lesions in porcine tissues.
• The system's design facilitated manipulation and strong pulling forces within confined spaces.

Conclusions:

• The novel hydraulic soft robotic system significantly improves capabilities for endoscopic submucosal dissection (ESD).
• This motorless, hydraulically actuated system offers enhanced precision and safety for minimally invasive gastrointestinal procedures.
• The technology holds potential for broader applications in various endoscopic surgical interventions.