A Flexible Surgical Robotic System for Removal of Early-Stage Gastrointestinal Cancers by Endoscopic Submucosal Dissection

• Published in: IEEE transactions on industrial informatics Vol. 12; no. 6; pp. 2365 - 2374
• Main Authors: Ka Chun Lau, Yun Yee Leung, Esther, Wai Yan Chiu, Philip, Yeung Yam, Yun Wong Lau, James, Carmen Chung Yan Poon
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.12.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Cancer; Continuum robot; Controllability; Controllers; Dissection; Electrostatic discharges; Elongation; Endoscopes; endoscopic submucosal dissection (ESD); endoscopic surgery; Endoscopy; Ergonomics; In vivo methods and tests; Lesions; Robot arms; Robot kinematics; Robots; Sheaths; Surgeons; Surgery; Surgical instruments; surgical robot; tendon–sheath (TS)

Endoscopic submucosal dissection (ESD) is an effective and less invasive treatment for early gastric and colorectal cancers. Nevertheless, performing ESD through a flexible endoscope is technically challenging due to the limited controllability of the endoscopic instruments. Therefore, a surgical ro...