Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023最新文献_第3页

Developing a personalised inflatable rectal obturator 开发个体化可充气直肠闭孔器

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.62

Aryan Maleki, M. Runciman, Alexander Thompson, J. Murray, G. Mylonas

{"title":"Developing a personalised inflatable rectal obturator","authors":"Aryan Maleki, M. Runciman, Alexander Thompson, J. Murray, G. Mylonas","doi":"10.31256/hsmr2023.62","DOIUrl":"https://doi.org/10.31256/hsmr2023.62","url":null,"abstract":"Rectal obturators like ProSpare and endorectal balloons (ERB) may reduce prostate motion during prostate radiotherapy, improving dosimetry of the target volume and surrounding healthy tissue [1-3]. ERBs are inflatable and well-tolerated, but an accumulation of gas proximal to the device can decrease its efficacy in reducing prostate motion [4]. ProSpare’s angled shape allows it to “lock in” at the anorectal angle and is made of high-impact ABS to reduce prostate motion. However, initial data from the POPS trial (NCT02978014) has shown 7/19 (37%) of patients could not insert ProSpare at their initial attempt, possibly because of the anal sphincter not stretching enough to accommodate the device. To address this issue, we present a deployable or inflatable device that becomes rigid and angled like ProSpare upon deployment, aiming to improve outcomes by reducing motion during prostate radiotherapy, while achieving good tolerance for nearly all patients. Laser welding was used to create inflatable chambers, forming ridges that provide rigidity once inflated [5]. Here, we report initial designs and validations of rigidity","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123985629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots 混合肌腱和球链连续机器人的工作空间表征

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.14

G. Pittiglio, M. Mencattelli, A. Donder, Yash Chitalia, P. Dupont

{"title":"Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots","authors":"G. Pittiglio, M. Mencattelli, A. Donder, Yash Chitalia, P. Dupont","doi":"10.31256/hsmr2023.14","DOIUrl":"https://doi.org/10.31256/hsmr2023.14","url":null,"abstract":"Continuum robots have attracted considerable attention for applications in minimally invasive diagnostics and therapeutics over the past decade [1]. The primary reason is their ability to navigate narrow and tortuous anatomical passageways, while guaranteeing safe inter- action with the anatomy. In designing such robots, an important goal is create a robot with a workspace appropriate for the clinical task. A significant limitation of many continuum designs re- lates to the minimum radius of curvature that a particular design can achieve. While multiple bending sections can be concatenated to provide more degrees of freedom, the orientations by which a point in the workspace can be approached are often limited. To overcome this limitation, this paper investigates a hybrid design that combines the advantages of tendon- actuated [2] and magnetic ball chain robots [3] as shown in Fig. 1. In this hybrid design, a proximal tendon- actuated section positions the robot with respect to the goal tip location while a distal ball chain section orients the robot tip with respect to the goal location. This abstract describes how the hybrid kinematics can be modeled and illustrates how the hybrid design possesses a dextrous workspace of finite extent.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127985557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

WaveLeNet: Transfer Neural Calibration for Embedded Sensing in Soft Robots 小波网络:软机器人嵌入式传感的传递神经校准

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.35

Navid Masoumi, Negar Kazemipour, Sarvin Ghiasi, Tannaz Torkaman, A. Sayadi, J. Dargahi, Amir Hooshair

{"title":"WaveLeNet: Transfer Neural Calibration for Embedded Sensing in Soft Robots","authors":"Navid Masoumi, Negar Kazemipour, Sarvin Ghiasi, Tannaz Torkaman, A. Sayadi, J. Dargahi, Amir Hooshair","doi":"10.31256/hsmr2023.35","DOIUrl":"https://doi.org/10.31256/hsmr2023.35","url":null,"abstract":"Soft robots have exhibited excellent compatibility with functional and physical requirements of intraluminal procedures such as bronchoscopy and cardiovascular intervention [1]. Despite their favourable mechanical compliance and scalable design, integrating miniature force and shape sensors on them is cumbersome [2]. Also, large mechanical deformation of such robots, i.e., flexures, may push traditional rigid sensors out of their linear range [3]. As an alternative approach, the authors have recently introduced a novel soft sensing method and soft embedded sensors for flexures that exhibited less than 10mN error in measuring external 3D tip forces on soft robots for bronchoscopy and cardiovas- cular applications [4], [5], [6]. Fig. 1(a –c) depict the conceptual design, the prototyped sensor developed in [5], and a representative interventional application. Their soft sensor was comprised of a gelatin-based matrix filled with graphite nano-particles that exhibited stable piezoresistivity under extremely large deformation. De- spite its accuracy, the accuracy of the proposed sensor was adversely affected in noisy environments, e.g., op- eration rooms. The reason was that the rate-dependent features used in its neural calibration would amplify the peripheral noise which would diminish the accuracy. In this study, we have proposed and validated an alterna- tive deep-learning-based method for calibration of the proposed soft sensor that is derivative-free thus does not amplify the peripheral noise and is versatile. Con- ceptually, the proposed calibration methods can be used to assemble an array of sensor readings for distributed sensing on soft robots. Our proposed method is based on generating a scalogram from the temporal-frequency content of the measured voltages using real-time wavelet transform and using transfer learning technique to infer rate-dependent and deformation-dependent features from the voltages’ scalogram.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116705471","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparison of denoising methods for synthetic low-field neurological MRI 合成低场神经MRI去噪方法的比较

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.39

Anthony O'Brien, F. Rodriguez y Baena

{"title":"Comparison of denoising methods for synthetic low-field neurological MRI","authors":"Anthony O'Brien, F. Rodriguez y Baena","doi":"10.31256/hsmr2023.39","DOIUrl":"https://doi.org/10.31256/hsmr2023.39","url":null,"abstract":"Over the past decade, the resurgence of low-field (LF) magnetic resonance imaging (MRI) sensor systems designed to operate up to 1 tesla range has proven well suited to inspire new solutions and design strategies to address frontline medical challenges where environmental factors are most extreme. Examples of successful low-field MRI devices in resource-limited environments include: (1) classification of infant hydrocephalus in Africa and (2) in remote small hospitals where the low-field scanner travels to the patient's bedside to observe volumetric changes in brain structure [1,2]. These low-field MRI design examples have been effective in leveraging MRI information in the setting where it is used with minimal available resources. In developing countries, access to high-field (HF) MRI is limited and requires support and infrastructure to be used. These lower-cost systems can potentially benefit from many developments that have occurred in higher fields, such as signal-to-noise dependence on static magnetic fields and hardware components (i.e., magnet, gradient coils, etc.) [3]. In addition, improvements in machine learning now provide superior noise reduction compared to traditional methods, resulting in improved performance with smaller size and lower power consumption. With improved access to medical imaging equipment, people around the world who cannot afford it due to the high cost of conventional MRIs will be able to obtain high- quality imaging data with improved contrast resolution and acquisition times. SNR (signal-to-noise ratio) is an important measure of the quality of a signal in low-field MRI. The amount of useful information in a signal compared to background noise directly affects the effectiveness of a low-field scan [4].","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114919278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Evaluation of a Sealing Valve Mechanism for Stoma Patients 一种用于造口患者的密封阀机构的设计与评价

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.69

Maleeha Al-Hamadani, C. Seneci, C. Norton, A. Botha, P. Jha, S. Ourselin

{"title":"Design and Evaluation of a Sealing Valve Mechanism for Stoma Patients","authors":"Maleeha Al-Hamadani, C. Seneci, C. Norton, A. Botha, P. Jha, S. Ourselin","doi":"10.31256/hsmr2023.69","DOIUrl":"https://doi.org/10.31256/hsmr2023.69","url":null,"abstract":"Bowel cancer and other bowel conditions are becoming increasingly dominant in the UK across all age groups. Every year, around 21,000 patients undergo stoma formation surgery, leading to either a temporary or permanent stoma being fitted [1]. Stoma management presents many complications that lead to extensive physical and psychological burdens, including aesthetics, leakage, production of unpleasant odour, skin blistering and infection, all contributing towards a more complex social life [2][3]. The current state-of-the-art technology failed to produce a solution that overcomes the aforementioned complications and research in the field is only addressing some complications without providing a solution to address them all. In this study, we have designed and manufactured a proof-of-concept prototype of a controllable valve, aiming to overcome the physical and psychological burden by eliminating the use of an actual stoma bag and allowing the patient to have full control over the stool release. With the sealable valve, stoma patients would be able to improve their quality of life. The proof-of-concept valve is then evaluated through two different experiments for validating the leakage-free mechanism, one through a static experiment and the second through a dynamic motion experiment.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126906654","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

SLAM-based Surgical Guidance For Breast Reconstruction Surgery 基于slam的乳房再造手术指导

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.1

Elise Fu, Á. Alarcón de la Lastra, Haoyin Zhou, Ruisi Zhang, Justin M Broyles, Haripriya S. Ayyala, B. Pomahac, J. Jayender

{"title":"SLAM-based Surgical Guidance For Breast Reconstruction Surgery","authors":"Elise Fu, Á. Alarcón de la Lastra, Haoyin Zhou, Ruisi Zhang, Justin M Broyles, Haripriya S. Ayyala, B. Pomahac, J. Jayender","doi":"10.31256/hsmr2023.1","DOIUrl":"https://doi.org/10.31256/hsmr2023.1","url":null,"abstract":"In 2018, 31.3% of the patients with stage I and stage II cancer underwent mastectomy in the United States. The loss of the breast mound post mastectomy alters the physical appearance of the patient and can have signifi- cant detrimental effect on the body image and mental health of patients [1]. Breast reconstruction surgery (BRS) using DIEP (deep inferior epigastric perforators) flap utilizes redundant lower abdominal skin and fat for reconstruction of breast mound. Due to its composition of fat similar to native breast, the flap has the advantage of superior aesthetic contours of the reconstructed breast [2], [3]. However, in order to establish the best flap shape and volume, the surgeon must have finesse and intuition [4]. Asymmetry of the breast can lead to a lower quality of life and a badly reconstructed breast is a constant reminder of the disease. Thus, it is crucial to have an accurate, reliable and accessible method to assess breast volume and shape to plan the reconstruction. Our study proposes the use of a low-cost RGB-D camera to scan the contralateral breast of a patient who has undergone mastectomy and 3D print a mirrored mold to guide the surgeon to establish the best shape (see Figure 1)","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126588512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Learning Robotic Ultrasound through Coaching 通过辅导学习机器人超声

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.40

Mythra V. Balakuntala, Deepak Raina, J. Wachs, R. Voyles

{"title":"Learning Robotic Ultrasound through Coaching","authors":"Mythra V. Balakuntala, Deepak Raina, J. Wachs, R. Voyles","doi":"10.31256/hsmr2023.40","DOIUrl":"https://doi.org/10.31256/hsmr2023.40","url":null,"abstract":"Medical imaging is an essential tool for diagnosing and monitoring various health conditions. Robotic remoti- zation of such diagnostic medical procedures increases the safety of medical personnel and accessibility to the rural populace. However, ultrasound exams can be challenging and require skilled operators to obtain high- quality images. Automating such procedures requires programming robots to perform these dexterous medical skills. The programming constraint can be eliminated by leveraging human tutelage paradigms, enabling the robot to learn from observation and expert feedback. But, robots require massive libraries of demonstrations to learn effective policies using machine learning algo- rithms [1]. While such datasets are achievable for simple tasks, providing many demonstrations for contact-rich procedures such as ultrasound is not practical. This paper presents a novel method to learn complex contact-rich procedures by combining self-supervised practice with sparse expert feedback through coaching. The robotic ultrasound system (RUS) uses reinforcement learning (RL) to learn a policy for autonomous imaging of a urinary bladder phantom. Specifically, we use an off- policy soft actor-critic with a reward based on image quality assessed using a supervised convolutional neu- ral network to learn the policy for ultrasound through practice. In addition to practice, experts provide online corrective feedback (coaching), which drives the robot to learn successful policies for ultrasound imaging.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125101002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dual Robot System for Autonomous Needle Insertion into Deep Vessels 深层血管自动针头插入双机器人系统

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.29

L. Civati, Maria Koskinopoulou, A. Santangelo, L. Mattos

{"title":"Dual Robot System for Autonomous Needle Insertion into Deep Vessels","authors":"L. Civati, Maria Koskinopoulou, A. Santangelo, L. Mattos","doi":"10.31256/hsmr2023.29","DOIUrl":"https://doi.org/10.31256/hsmr2023.29","url":null,"abstract":"Precise needle insertion is a key operation in many medical procedures such as peripheral catheterization, cardiac endovascular treatments, biopsy and treatment of tumours in soft tissues such as breast, prostate and abdomen [1]. Among them, Central Venous Access (CVA) is a routine procedure typically performed by experienced clinicians under ultrasound or x-ray guidance in a surgical room environment. CVA is most commonly conducted in three deep vein locations: the internal jugular vein, the subclavian vein, and the femoral vein. During CVA, clinician should insert the needle while maintaining proper visualization of the target vessel (i.e. ultrasound-guided access). However, performing the de- tection and continuous visualization of the target vessel and simultaneously precisely controlling the needle inser- tion is not trivial. At the same time, complication rates during CVA range up to 15% (mechanical in 5-19% of patients; infectious in 5-26%; thrombotic in 2-26%) [2]. In this paper, we propose a dual robot system for autonomous needle insertion into deep vessels by enabling real-time visualization of the vein and adaptive trajectory planning to provide safe and quick interactions.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121780589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of a Flexible Bone Drill Using a Hydraulic Pressure Wave 基于液压波的柔性骨钻设计

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.30

E. P. de Kater, Tjalling G. Kaptijn, A. Sakes, P. Breedveld

{"title":"Design of a Flexible Bone Drill Using a Hydraulic Pressure Wave","authors":"E. P. de Kater, Tjalling G. Kaptijn, A. Sakes, P. Breedveld","doi":"10.31256/hsmr2023.30","DOIUrl":"https://doi.org/10.31256/hsmr2023.30","url":null,"abstract":"Orthopaedic surgery focuses on the musculoskeletal system and often involves drilling through bone for fracture fixation, bone fusion, or tendon repair. Currently, straight rigid bone drills are utilized to create a tunnel through bone. Although these rigid bone drills are relatively easy to use, it would be advantageous to have a bone drill that can deflect to reach challenging areas, minimise damage to surrounding tissue or create better paths for the fixation of bone anchors or tendons. For instance, in spinal fusion surgery, the use of curved paths combined with novel bone anchors could potentially improve the fixation strength of the bone anchors compared to the currently used pedicle screws. Currently, there are no commercial bone drills available that allow the surgeon to adjust the drilling trajectory during the intervention [1]. The design of steerable bone drills is challenging as the required flexibility to create a curved hole compromises the needed buckling resistance to advance the drill through hard material such as bone. The flexible catheter designed by Sakes et al. was able to successfully transfer an impulse that could be used to hammer through calcification in blood vessels [2]. The catheter comprises a flexible fluid-filled tube that is used to transfer the impulse to the distal tip of the catheter to hammer through the occlusion. Although bone has different characteristics and the diameter of a drilled tunnel for pedicle screws (4 mm) is considerably different from the diameter of a catheter, the use of a hydraulic pressure wave could be beneficial, as the use of an impulse increases the buckling resistance while allowing the required bending for the drilling of curved tunnels. Furthermore, there are indications that the use of an impulse lowers the required penetration load due to the damping of the surrounding tissue which acts as a reaction force. The goal of this study was, therefore, to investigate the use of a hydraulic pressure wave to hammer through bone in a flexible bone drill.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130406242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Implementation of a Novel Handheld Endoscopic Operation Platform (EndoGRASP) 一种新型手持式内镜操作平台(EndoGRASP)的实现

Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023 Pub Date : 2023-06-26 DOI: 10.31256/hsmr2023.20

Chun Ping Lam, Ming Ho Ho, ShiPan Siu, K. Lau, Yeung Yam, P. Chiu

{"title":"Implementation of a Novel Handheld Endoscopic Operation Platform (EndoGRASP)","authors":"Chun Ping Lam, Ming Ho Ho, ShiPan Siu, K. Lau, Yeung Yam, P. Chiu","doi":"10.31256/hsmr2023.20","DOIUrl":"https://doi.org/10.31256/hsmr2023.20","url":null,"abstract":"Flexible endoscopes are widely used due to their effective treatment of various conditions with minimal surgery. Existing ESD platform, such as Incisionless operation platform (IOP) [1] and ANUBIScope [2], while they may offer reliable support for endoscopic bending, they lack the ability to provide precise motorized motion or may potentially restrict the maneuverability of the platform in confined endoluminal environments. Another more advanced operation platform, namely EndoMaster [3], while providing excellent visualization of the surgical area due to its compact design, which allowed for easy docking and prevented interference from the working arms, however, its complex operational requirements, where the surgeon must control the console remotely and manipulate the robotic arms using hand controls, can be time-consuming and challenging for the surgeon to master. Over-the-Scope Clip (OTSC) [4] use a device that places clips over the endoscope to hold tissue before removal, but the effectiveness of these clips in securing the tissue is sometimes inadequate, resulting in incomplete tissue acquisition and suboptimal surgical outcomes. Existing operating systems face challenges such as limited mobility, insufficient tissue collection, complex setup, and high costs. EndoGRASP, a novel handheld endoscopic platform, addresses these issues with its flexible robotic overtube and actuation unit. Optimized for efficient endoscopic submucosal dissection, it enhances patient safety and ensures precise, motorized control of the endoscope and instruments.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124597227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0