Evaluation of a robotic arm-assisted endoscope to facilitate endoscopic submucosal dissection (with video)

Hwang, Mina; Lee, Seung Woo; Park, Ki Cheol; Sul, Hae Joung; Kwon, Dong‐Soo

doi:10.1016/j.gie.2019.11.014

Cited by 19 publications

(19 citation statements)

References 17 publications

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“…Consequently, the dissection speed was calculated as 92.7 mm 2 /min. This outcome shows that the dissection using K‐FLEX was almost two times faster compared with the result of a previous procedure that the same operator conducted using a standard endoscope (47.5 mm 2 /min) . We observed that the difference mainly came from the traction and cutting motion in various directions, facilitated by the enhanced dexterity of the bimanual arm.…”

Section: Resultsmentioning

confidence: 50%

“…This outcome shows that the dissection using K-FLEX was almost two times faster compared with the result of a previous procedure that the same operator conducted using a standard endoscope (47.5 mm 2 /min). 17 We observed that the difference mainly came from the traction and cutting motion in various directions, facilitated by the enhanced dexterity of the bimanual arm. It was confirmed that the desired lesion of the tissue could be successfully manipulated and dissected using the proposed robot.…”

Section: Benchtop Test Resultsmentioning

confidence: 75%

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K‐FLEX: A flexible robotic platform for scar‐free endoscopic surgery

Hwang

Kwon

2020

Robotics Computer Surgery

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Background Despite its high lesion accessibility and versatility, endoscopic platforms have suffered from designing flexible manipulators with high payload capability sufficient to perform advanced endoscopic procedures. Methods A flexible robotic platform, K‐FLEX, has been developed with a design of 17 mm in overall diameter. To overcome the shape distortion and deflection in payload handling, a strong continuum manipulator has been designed to have maximum resistance to the distortion. The kinematic analysis and mapping strategy have been established for the master‐slave teleoperation. Results The proposed manipulator has shown 7.5 mm in trajectory variation to lift the weight of 300 g. Finally, the feasibility of the integrated K‐FLEX system has been verified through three kinds of simulated surgical tasks. Conclusions The initial prototype of the proposed robot showed the possibility of advanced endoscopic surgery with improved payload capability.

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Section: Resultsmentioning

confidence: 50%

Section: Benchtop Test Resultsmentioning

confidence: 75%

K‐FLEX: A flexible robotic platform for scar‐free endoscopic surgery

Hwang

Kwon

2020

Robotics Computer Surgery

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“…h) Portable endoscopic tool handler: The portable endoscopic tool handler (PETH) by the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea, is an articulated robotic arm that can be attached to a commercial gastroscope or colonoscope [154]. This robot arm has two DoFs for bending and a commercial endoscopic instrument, such as forceps, that can be introduced through a working channel made inside the robot arm.…”

Section: B) R-scopementioning

confidence: 99%

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

et al. 2022

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“…New traction devices to facilitate ESD have come into play, such as the through-the-scope Tracmotion device by Fujifilm (Lexington, MA, USA). Robotic manipulation devices such as the EndoMaster EASE System (EndoMaster Pte Ltd., Singapore) that can actively guide accessory instruments in various directions to allow for easier retraction and dissection are also being studied in animal models [ 64 , 65 ]. All of these advances aim to facilitate the performance and safety of ESD and increase utilization.…”

Section: Future Directionsmentioning

confidence: 99%

Minimally Invasive Endoscopic and Surgical Management of Rectal Neoplasia

Ghamdi

Leeds

Fang

et al. 2022

Cancers

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Rectal cancer demonstrates a characteristic natural history in which benign rectal neoplasia precedes malignancy. The worldwide burden of rectal cancer is significant, with rectal cancer accounting for one-third of colorectal cancer cases annually. The importance of early detection and successful management is essential in decreasing its clinical burden. Minimally invasive treatment of rectal neoplasia has evolved over the past several decades, which has led to reduced local recurrence rates and improved survival outcomes. The approach to diagnosis, staging, and selection of appropriate treatment modalities is a multidisciplinary effort combining interventional endoscopy, surgery, and radiology tools. This review examines the currently available minimally invasive endoscopic and surgical management options of rectal neoplasia.

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Evaluation of a robotic arm-assisted endoscope to facilitate endoscopic submucosal dissection (with video)

Cited by 19 publications

References 17 publications

K‐FLEX: A flexible robotic platform for scar‐free endoscopic surgery

K‐FLEX: A flexible robotic platform for scar‐free endoscopic surgery

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

Minimally Invasive Endoscopic and Surgical Management of Rectal Neoplasia

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