Development of a decoupling wire driven exoskeletal microarm for endoscopic Submucosal Dissection

Author

Kawahara, Tomohiro ; Matsumoto, Tetsuro ; Muramatsu, Naoki ; Osada, Taro ; Sakamoto, Naoto ; Arai, Fumihito

Author_Institution

Grad. Sch. of Eng., Nagoya Univ., Nagoya, Japan

fYear

2010

fDate

26-29 Sept. 2010

Firstpage

849

Lastpage

854

Abstract

Endoscopic Sub-mucosal Dissection (ESD) has the low operability problem during operation by using surgical tools with a simple mechanism. In this paper, newly developed an exoskeletal microarm is proposed. For enabling the surgical operation of cancer tissues during ESD, a gripper is attached to the microarm based on a wire decoupling design. The fabrication methods for the microarm by using an electrical discharge machining and a photolithography are also shown. By using this approach, the developed extra-thin 2-DOF microarm can insert to the endoscope channel with the diameter of 2.7 mm.

Keywords

cancer; electrical discharge machining; endoscopes; grippers; medical robotics; microrobots; photolithography; surgery; tumours; cancer tissues; decoupling wire; electrical discharge machining; endoscopic submucosal dissection; exoskeletal microarm; extra thin 2-DOF microarm; gripper; photolithography; size 2.7 mm; surgical tools; Electrostatic discharge; Endoscopes; Force; Grippers; Joints; Surgery; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on

Conference_Location

Tokyo

ISSN

2155-1774

Print_ISBN

978-1-4244-7708-1

Type

conf

DOI

10.1109/BIOROB.2010.5628027

Filename

5628027