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Design and Evaluation of a Teleoperated Robotic System for ERCP Cannulation
SeongHyeon Won1, Chanwoo Kim1, Jaeyoun Kim1
1Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea.
Background:
Endoscopic retrograde cholangiopancreatography (ERCP) cannulation requires precise manipulation under fluoroscopic guidance. This study proposes a teleoperated robotic system for ERCP cannulation and evaluates its simulator-based performance.
Methods:
A teleoperated robotic system incorporating a Chebyshev-based mechanism and a ring-type master interface was developed. Manipulation performance was assessed using Fitts' law-based insertion experiments, catheter-tip trajectory analysis, and a simulator-based cannulation task.
Results:
Robotic manipulation showed a Fitts' law relationship comparable to conventional manual operation. Trajectory analysis showed higher path efficiency and lower jerk in the robotic condition, indicating improved trajectory-related motion quality. In the simulator-based cannulation task, the robotic condition showed slightly longer initial task completion times, whereas both robotic and conventional conditions showed comparable changes in task completion time across repeated trials.
Conclusions:
This study demonstrates the feasibility of a teleoperated robotic system for simulator-based ERCP cannulation tasks. Further validation with expert endoscopists and more realistic ERCP environments is required.
