Novel Design of a Surgical Tool Insertion Robot Using a Chebyshev Lambda Mechanism

Area of Science:

• Robotics
• Medical Engineering
• Minimally Invasive Surgery

Background:

• Endoscopic Retrograde Cholangiopancreatography (ERCP) and Percutaneous Coronary Intervention (PCI) are vital minimally invasive procedures.
• Radiation exposure and imprecise guidewire navigation pose challenges for medical staff during these procedures.

Purpose of the Study:

• To develop a novel robotic insertion system to improve precision and safety in minimally invasive procedures.
• To address the limitations of manual catheterization and guidewire manipulation.

Main Methods:

• A Chebyshev lambda mechanism was employed for a single-motor-driven linear grasp and arc-shaped return path.
• An integrated roll module provides two degrees of freedom for continuous insertion and rotation.
• The robotic system was designed for precise control during catheterization.

Main Results:

• The robot demonstrated sufficient insertion force for clinical applications.
• Experimental results showed maximum mean translational and rotational errors of 0.11 mm and 1.47°, respectively.
• Phantom model tests confirmed the robot's applicability to human anatomy.

Conclusions:

• The developed robotic system exhibits high precision and adequate force for surgical use.
• This technology shows significant potential for enhancing the safety and efficacy of minimally invasive procedures.
• Further clinical application of this robotic system is promising.