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Updated: May 12, 2026
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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
Development of a Coaxial Over-the-Scope Bimanual Robot Enabling Lesion-Aligned Manipulation for ESD
Chanwoo Kim1, Sang Hyun Kim2, JaeYoun Kim1
1Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea.
Summary
A new robotic system enhances endoscopic submucosal dissection (ESD) by providing stable traction and precise cutting. This robot-assisted ESD (R-ESD) improves efficiency and safety compared to conventional methods.
Area of Science:
- Medical Robotics
- Gastroenterology
- Surgical Innovation
Background:
- Endoscopic Submucosal Dissection (ESD) demands advanced skills due to limitations in conventional endoscopes.
- Lack of simultaneous traction and dissection leads to unstable visualization and variable cutting depth in ESD.
Purpose of the Study:
- To develop and evaluate a coaxial over-the-scope bimanual robotic system for ESD.
- To compare the efficacy and safety of robot-assisted ESD (R-ESD) with conventional ESD (C-ESD).
Main Methods:
- A coaxial over-the-scope bimanual robotic system was engineered for lesion-aligned traction and dissection.
- Pre-clinical trials were conducted on synthetic tissue to compare R-ESD and C-ESD.
Main Results:
- The robotic system achieved sufficient traction and provided precise manipulation.
- R-ESD significantly reduced total procedure time (11.80 vs 9.20 min) and dissection time (8.35 vs 2.99 min).
- R-ESD demonstrated improved depth safety, with shallower mean depth (4.06 vs 2.48 mm) and reduced risk of muscle invasion (29.38% vs 0.15%).
Conclusions:
- The coaxial bimanual robotic system enhances procedural efficiency and depth safety in ESD.
- Lesion-aligned manipulation by the robot improves outcomes.
- Compatibility with existing endoscopes suggests potential for clinical application without added complexity.
