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ESD CYCLOPS: A new robotic surgical system for GI surgery

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Title: ESD CYCLOPS: A new robotic surgical system for GI surgery
Authors: Vrielink, TJCO
Chao, M
Darzi, A
Mylonas, GP
Item Type: Conference Paper
Abstract: Gastrointestinal (GI) cancers account for 1.5 million deaths worldwide. Endoscopic Submucosal Dissection (ESD) is an advanced therapeutic endoscopy technique with superior clinical outcome due to the minimally invasive and en bloc removal of tumours. In the western world, ESD is seldom carried out, due to its complex and challenging nature. Various surgical systems are being developed to make this therapy accessible, however, these solutions have shown limited operational workspace, dexterity, or low force exertion capabilities. The current paper shows the ESD CYCLOPS system, a bimanual surgical robotic attachment that can be mounted at the end of any flexible endoscope. The system is able to achieve forces of up to 46N, and showed a mean error of 0.217mm during an elliptical tracing task. The workspace and instrument dexterity is shown by pre-clinical ex vivo trials, in which ESD is successfully performed by a GI surgeon. The system is currently undergoing pre-clinical in vivo validation.
Issue Date: 13-Sep-2018
Date of Acceptance: 21-May-2018
URI: http://hdl.handle.net/10044/1/81396
DOI: 10.1109/ICRA.2018.8462698
ISSN: 1050-4729
Publisher: IEEE Computer Soc.
Start Page: 150
End Page: 157
Journal / Book Title: 2018 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: National Institute of Health Research
National Institute for Health Research
Funder's Grant Number: NF SI 061710038
Conference Name: IEEE International Conference on Robotics and Automation (ICRA)
Keywords: Science & Technology
Technology
Automation & Control Systems
Robotics
ENDOSCOPIC SUBMUCOSAL DISSECTION
COLONIC POLYPS
RESECTION
SEX
AGE
Science & Technology
Technology
Automation & Control Systems
Robotics
ENDOSCOPIC SUBMUCOSAL DISSECTION
COLONIC POLYPS
NEOPLASIA
RESECTION
SEX
AGE
cs.RO
cs.RO
Publication Status: Published
Start Date: 2018-05-21
Finish Date: 2018-05-25
Conference Place: Brisbane, Australia
Online Publication Date: 2018-09-13
Appears in Collections:Department of Surgery and Cancer
Institute of Global Health Innovation