A New Endoscopic Surgical Robot System for Endoscopic Submucosal Dissection
A New Endoscopic Surgical Robot System for Endoscopic Submucosal Dissection
- 주제(키워드) Robotics , Robot surgery , Endoscopic submucosal dissection , Tendon sheath actuation
- 발행기관 고려대학교 대학원
- 지도교수 홍대희
- 발행년도 2019
- 학위수여년월 2019. 2
- 유형 Text
- 학위구분 박사
- 학과 대학원 기계공학과
- 원문페이지 148 p
- 실제URI http://www.dcollection.net/handler/korea/000000083116
- UCI I804:11009-000000083116
- DOI 10.23186/korea.000000083116.11009.0000929
- 본문언어 영어
- 제출원본 000045978455
초록/요약
Robotics and mechatronics technology have been recently merged into various fields, resulting in rapid expansion of their use to humans. Such a phenomenon is particularly significant in medicine, e.g., in helping the disabled walk with wearable robots or in performing surgeries with minimum incisions on human bodies using laparoscopic surgery robots. As such, medicine is a representative field that has rapidly merged with robotics. Along with laparoscopic robotics, wherein the emergence of the da Vinci robot system has led to full-scale commercialization, much research has been conducted in the field of endoscopic robotics owing to its various advantages. Endoscopic surgery is considered a next-generation surgery method owing to its medical advantages, such as low levels of complications and rapid recovery potential as well as cosmetic advantages as it does not require external incisions. However, endoscopic robotics has several challenging technical issues compared with laparoscopic robotics; currently, no endoscopic robotic system is commercially available. This dissertation presents a study on the development of a new endoscopic auxiliary surgical robot system and the clinical verification of its advantages at endoscopic submucosal dissection. This surgical robotic system was designed via a multi-angled analysis of the actual clinical environment and the endoscopic submucosal dissection. A surgical manipulator and a human interface, which can be easily assembled onto a commercially available standard endoscope, were designed for the new robotic system; the actuation console and tendon-sheath system required for operating the manipulator were also developed. The surgical manipulator can improve issues related to the degree-of-freedom of endoscope by being attached to the distal end of the endoscope, and the working channel of the endoscope allows for the combination of other commercially available surgical devices. The human interface is also attached to the proximal end of the endoscope, allowing the doctor operating the endoscope to simultaneously operate the robot without an assistant.
more목차
Abstract………………………………………………………………………………………………i
Contents………………………………………………………………………………………………iv
List of Figures……………………………………………………………………………………vi
List of Tables…………………………………………………………………………………………xi
CHAPTER 1 INTRODUCTION……………………………………………………………………1
1.1 Research Background………………………………………………………………………1
1.2 Literature Review………………………………………………………………………………5
1.3 Research Purpose……………………………………………………………………………9
1.4 Dissertation Overview……………………………………………………………………11
CHAPTER 2 SURGICAL ROBOT………………………………………………………………13
2.1 Laparoscopic Surgery……………………………………………………………………………14
2.2 Endoscopic Surgery……………………………………………………………………………17
2.3 Endoscopic Flexible Platforms…………………………………………………………………20
2.4 Endoscopic Suturing Devices………………………………………………………………27
CHAPTER 3 REXTER SYSTEM……………………………………………………………………31
3.1 Analysis of Clinical Environment………………………………………………………31
3.1.1 Feature of endoscope…………………………………………………………………33
3.1.2 Endoscopic submucosal dissection…………………………………………………36
3.2 Overview of REXTER System…………………………………………………………………40
3.3 Auxiliary Surgical Manipulator……………………………………………………………44
3.3.1 Concepts design of the manipulator………………………………………………44
3.3.2 Detailed mechanical design of the manipulator…………………………………47
3.4 Human Interface………………………………………………………………………………49
3.4.1 Concepts design of the interface……………………………………………………49
3.4.2 Detailed mechanical design of the interface…………………………………………51
3.5 Actuation Console…………………………………………………………………………54
3.5.1 Hardware system……………………………………………………………………………55
3.5.2 Control algorithm……………………………………………………………………………58
CHAPTER 4 TENDON-SHEATH ACTUATION……………………………………………………61
4.1 Dynamics of The Tendon-Sheath System…………………………………………………62
4.1.1 Common feature of tendon-sheath system………………………………………62
4.1.2 Tendon–sheath elongation model……………………………………………………63
4.2 Tendon-sheath friction compensator……………………………………………………69
4.2.1 Dynamics of conventional double input tendon-sheath system………………70
4.2.2 Mechanical design of the compensator………………………………………………74
4.2.3 Dynamics of advanced tendon-sheath system………………………………………80
4.3 Performance Evaluation…………………………………………………………………………82
4.3.1 Experimental setup……………………………………………………………………………82
4.3.2 Experimental results………………………………………………………………………………87
4.3.2.1 Analysis of tension of the mater tendon………………………………………………87
4.3.2.2 Analysis of backlash deadband……………………………………………………………91
CHAPTER 5 PRECLINICAL EVALUATION…………………………………………………………97
5.1 Extracted Stomach Study……………………………………………………………………………97
5.1.1 Method and materials …………………………………………………………………………98
5.1.2 Results of in-vitro test………………………………………………………………………102
5.1.3 Discussion………………………………………………………………………………………106
5.2 Survival Porcine Study………………………………………………………………………111
5.2.1 Method and materials ……………………………………………………………………111
5.2.2 Results of in-vivo test……………………………………………………………………114
5.2.3 Discussion……………………………………………………………………………………117
CHAPTER 6 CONCLUSION…………………………………………………………………………121
REFERENCES…………………………………………………………………………………………125
