ROBOTIC SYSTEM

摘要

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.

主权项

1. A robot for Endoscopic Submucosal Dissection (ESD), comprising:
a slave device configured with a first arm and a second arm; an endoscopic platform with at least two channels extensible to a target tissue and for receiving the first and second arms, respectively; and a master device configured to control the first arm to retract the target tissue and control the second arm to dissect the retracted tissue.