TY - GEN
T1 - Design and Implementation of A Robotized Hand-held Dissector for Endoscopic Pulmonary Endarterectomy
AU - Zhu, Runfeng
AU - Hou, Xilong
AU - Huang, Wei
AU - Du, Lei
AU - Wu, Zhong
AU - Liu, Hongbin
AU - Chu, Henry K.
AU - Zhao, Qingxiang
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024/8
Y1 - 2024/8
N2 - Severe chronic pulmonary endarterectomy needs a dissector to delicately remove proliferative intima located in the depth of the pulmonary artery. This work proposed a novel endoscopic robotized steerable dissector for this surgery, enabling easier access to curved deep artery branches. The handheld surgical dissector also provides suction and visualization for surgeons to enhance effectiveness. The steerable section is a cable-driven hinged structure, and through an antagonistic mechanism regulating the cable tension, the overall stiffness is adjusted to adapt various surroundings. The mapping between actuation space and shape configuration and tip force estimation model are respectively established for further closed-loop control scheme, achieving adaptive positioning and safe surgery. Experiments first demonstrate the feasibility of the proposed models and ex vitro trials validated the usage and effectiveness of the robotized dissector.
AB - Severe chronic pulmonary endarterectomy needs a dissector to delicately remove proliferative intima located in the depth of the pulmonary artery. This work proposed a novel endoscopic robotized steerable dissector for this surgery, enabling easier access to curved deep artery branches. The handheld surgical dissector also provides suction and visualization for surgeons to enhance effectiveness. The steerable section is a cable-driven hinged structure, and through an antagonistic mechanism regulating the cable tension, the overall stiffness is adjusted to adapt various surroundings. The mapping between actuation space and shape configuration and tip force estimation model are respectively established for further closed-loop control scheme, achieving adaptive positioning and safe surgery. Experiments first demonstrate the feasibility of the proposed models and ex vitro trials validated the usage and effectiveness of the robotized dissector.
UR - https://www.scopus.com/pages/publications/85202430063
U2 - 10.1109/ICRA57147.2024.10610104
DO - 10.1109/ICRA57147.2024.10610104
M3 - Conference article published in proceeding or book
AN - SCOPUS:85202430063
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4541
EP - 4546
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -