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

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-09-11 DOI:10.1002/rcs.2670

Xingyao Zhang, Fuxin Du, Gang Zhang, Ke Wu, Gang Zheng, Yibin Li, Rui Song

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Abstract

Background

Endoscopic submucosal dissection (ESD) is an effective treatment for early-stage gastrointestinal cancers. However, traditional surgical instruments lack accuracy and force-sensing.

Methods

A new type of continuum robot for ESD is designed. An accurate static model of the proposed continuum robot is established, considering cases where the robot bends into C-shapes and S-shapes. A force estimation method based on an accurate static model is proposed. Then, the accuracy of the static model and force estimation is verified through experiments. Finally, an ex-organ experiment is carried out.

Results

The average position error of the proposed static model is 0.72 mm, accounting for 2.57% of the total robot length. The average error of force estimation is 19.53 mN. By gripping and cutting ex-porcine gastric mucosa, the robot's functionality is validated.

Conclusion

This paper contributes to precise control and safe interaction of continuum robots.

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用于内镜粘膜下剥离手术的连续机器人设计与建模（带提升力估算

背景内镜黏膜下剥离术（ESD）是治疗早期胃肠道癌症的有效方法。然而，传统手术器械缺乏精确性和力感应。方法设计了一种用于 ESD 的新型连续机器人。考虑到机器人弯曲成 C 形和 S 形的情况，建立了拟议连续机器人的精确静态模型。提出了一种基于精确静态模型的力估算方法。然后，通过实验验证了静态模型和力估算的准确性。最后，进行了外器官实验。结果所提出的静态模型的平均位置误差为 0.72 毫米，占机器人总长度的 2.57%。力估算的平均误差为 19.53 mN。通过抓取和切割猪胃粘膜，验证了机器人的功能。结论本文有助于连续机器人的精确控制和安全互动。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.