robot system

A technology of robots and actuators, applied in the field of robot systems, can solve problems such as difficult flexible endoscopes, difficult execution, and difficulty in maintaining the position of endoscopes

Active Publication Date: 2019-11-22
THE CHINESE UNIVERSITY OF HONG KONG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Second, it is difficult to maintain the tip of the flexible endoscope in a stable position within the hollow viscera
Third, large bowel ESD procedures located close to the large bowel (cecum and transverse colon) are more difficult to perform due to difficulty maintaining endoscopic position and a thinner muscle layer
thus increasing the cost

Method used

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Embodiment Construction

[0032] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. Where appropriate, the same reference numbers have been used throughout the drawings to refer to the same or like parts.

[0033] figure 1 is a block diagram of a robot 100 for endoscopic submucosal dissection (ESD) according to an embodiment of the present application. The robot 100 includes a slave device 1 , an endoscope platform 2 and a master device 3 . The slave device 1 is configured with a first arm and a second arm. The endoscope platform 2 has at least two channels that can extend to the target tissue and are used to accommodate the first arm and the second arm, respectively. The master device 3 is configured to control the first arm to pull back the target tissue and to control the second arm to peel the pulled back tissue. In some embodiments, the number of channels can be varied as desired.

[0034] figure 2 The detailed ...

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Abstract

The present invention discloses a task specific robot for the procedure of endoscopic submucosal dissection (ESD). This robot has two arms with nine degrees of freedom (DOF), and the capability of tissue elevation and dissection. An optimal design of these robot arms requires the use of shape memory alloy (SMA) wire and steel wire actuators to develop an improved actuation mechanism, which enables force to be transmitted to the distal tip of the robot arms for an efficient tissue elevation and dissection.

Description

technical field [0001] The present application relates generally to robotic systems, and more particularly to master-slave robotic systems for endoscopic submucosal dissection (ESD). Background technique [0002] Stomach cancer and colorectal cancer are both common types of cancer in different parts of the world. Gastric and colorectal cancers are also the leading causes of cancer death. Gastrointestinal (GI) cancers originate in the mucosal layer. Survival rates for patients with these cancers can improve if they are removed en masse at an early stage, before they become malignant and before the cancer spreads to the lymph nodes. [0003] To remove premalignant and early stage cancers in the gastrointestinal tract, endoscopic mucosal resection (EMR) and endoscopic submucosal dissection (ESD) were developed. These procedures are aided by flexible endoscopes and have the advantages of being minimally invasive and organ-sparing. To remove larger lesions, ESD is usually req...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/37B25J9/08
CPCA61B34/37A61B2017/00269A61B2017/00867A61B2018/00595A61B2018/1412A61B2034/301A61B2034/306A61B2218/002A61B2218/007
Inventor 潘颂欣赵伟仁任扬刘润皇刘家骏
Owner THE CHINESE UNIVERSITY OF HONG KONG
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