SeongHyeon Won, Chanwoo Kim, Yeonho Ko, Junho Hong, Jisu Jeon, Daehie Hong
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Novel Design of a Surgical Tool Insertion Robot Using a Chebyshev Lambda Mechanism
Background
Endoscopic Retrograde Cholangiopancreatography (ERCP) and Percutaneous Coronary Intervention (PCI) are minimally invasive procedures that treat diseases with minimal scarring and rapid recovery. However, catheterisation under fluoroscopy exposes medical staff to radiation, and navigating flexible guidewires through complex anatomical pathways requires precise control.
Methods
To address these challenges, we propose a novel insertion robot based on a Chebyshev lambda mechanism that makes a linear grasp path and an arc-shaped quick return path using a single motor. An integrated roll module enables continuous insertion and rotation, yielding a robot with two degrees of freedom.
Results
Experiments show robots can make sufficient insertion force for real procedures, with robot's maximum mean translational and rotational errors of 0.11 mm and 1.47°, respectively. Phantom model tests show its applicability to human anatomy.
Conclusions
The proposed robotic system demonstrated sufficient precision and force for real surgical applications, indicating its potential for clinical use in minimally invasive procedures.
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.
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