Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery
Endoscopic submucosal dissection (ESD) has emerged as a critical alternative to laparoscopic excisional surgery for the removal of early gastrointestinal tumors. However, current robotic systems for ESD face challenges with accessibility, dexterity, and precision in confined spaces due to limitation...
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| Format: | Article |
| Language: | English |
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American Association for the Advancement of Science (AAAS)
2025-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0289 |
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| author | Kefan Zhu Chi Cong Nguyen Bibhu Sharma Phuoc Thien Phan Trung Thien Hoang James Davies Adrienne Ji Emanuele Nicotra Jingjing Wan Patrick Pruscino Sumeet Walia Tat Thang Vo-Doan Soo Jay Phee Shing Wong Nigel H. Lovell Thanh Nho Do |
| author_facet | Kefan Zhu Chi Cong Nguyen Bibhu Sharma Phuoc Thien Phan Trung Thien Hoang James Davies Adrienne Ji Emanuele Nicotra Jingjing Wan Patrick Pruscino Sumeet Walia Tat Thang Vo-Doan Soo Jay Phee Shing Wong Nigel H. Lovell Thanh Nho Do |
| author_sort | Kefan Zhu |
| collection | DOAJ |
| description | Endoscopic submucosal dissection (ESD) has emerged as a critical alternative to laparoscopic excisional surgery for the removal of early gastrointestinal tumors. However, current robotic systems for ESD face challenges with accessibility, dexterity, and precision in confined spaces due to limitations in actuation methods and mechanical design. To overcome these issues, a new motorless, master–slave soft robotic system using hydraulic actuation is introduced for ESD procedures. This system features dual soft robotic arms: one serves as an electrosurgical tool, and the other serves as a 3-jaw soft tubular grasper. Notably, the entire system is powered purely by hydraulic force, eliminating the need for DC motors or complex electronic controllers. Inspired by nature, the grasper ensures even force distribution and removes rotational motion, reducing the risk of iatrogenic injury. Its scalable design and compliant properties allow for effective tissue manipulation in tight spaces, with strong pulling forces generated by the embedded soft actuation network. In vitro and ex vivo experiments on fresh porcine tissues demonstrate the system’s ability to grip and perform electrosurgical cutting on simulated lesions. This innovation has the potential to be applied in other areas of endoscopic surgery as well. |
| format | Article |
| id | doaj-art-c38d0d2108b24cae9f021ef8870d93bc |
| institution | Kabale University |
| issn | 2692-7632 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj-art-c38d0d2108b24cae9f021ef8870d93bc2025-08-20T03:25:30ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322025-01-01610.34133/cbsystems.0289Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic SurgeryKefan Zhu0Chi Cong Nguyen1Bibhu Sharma2Phuoc Thien Phan3Trung Thien Hoang4James Davies5Adrienne Ji6Emanuele Nicotra7Jingjing Wan8Patrick Pruscino9Sumeet Walia10Tat Thang Vo-Doan11Soo Jay Phee12Shing Wong13Nigel H. Lovell14Thanh Nho Do15Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Centre for Opto-electronic Materials and Sensors, School of Engineering, RMIT University, Melbourne, VIC 3000, Australia.School of Mechanical and Mining Engineering, The University of Queensland, St Lucia, QLD 4072, Australia.School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.School of Clinical Medicine, UNSW Sydney and Prince of Wales Hospital, Randwick, Sydney, NSW 2031, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Graduate School of Biomedical Engineering, UNSW, Kensington Campus, Sydney, NSW 2052, Australia.Endoscopic submucosal dissection (ESD) has emerged as a critical alternative to laparoscopic excisional surgery for the removal of early gastrointestinal tumors. However, current robotic systems for ESD face challenges with accessibility, dexterity, and precision in confined spaces due to limitations in actuation methods and mechanical design. To overcome these issues, a new motorless, master–slave soft robotic system using hydraulic actuation is introduced for ESD procedures. This system features dual soft robotic arms: one serves as an electrosurgical tool, and the other serves as a 3-jaw soft tubular grasper. Notably, the entire system is powered purely by hydraulic force, eliminating the need for DC motors or complex electronic controllers. Inspired by nature, the grasper ensures even force distribution and removes rotational motion, reducing the risk of iatrogenic injury. Its scalable design and compliant properties allow for effective tissue manipulation in tight spaces, with strong pulling forces generated by the embedded soft actuation network. In vitro and ex vivo experiments on fresh porcine tissues demonstrate the system’s ability to grip and perform electrosurgical cutting on simulated lesions. This innovation has the potential to be applied in other areas of endoscopic surgery as well.https://spj.science.org/doi/10.34133/cbsystems.0289 |
| spellingShingle | Kefan Zhu Chi Cong Nguyen Bibhu Sharma Phuoc Thien Phan Trung Thien Hoang James Davies Adrienne Ji Emanuele Nicotra Jingjing Wan Patrick Pruscino Sumeet Walia Tat Thang Vo-Doan Soo Jay Phee Shing Wong Nigel H. Lovell Thanh Nho Do Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery Cyborg and Bionic Systems |
| title | Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery |
| title_full | Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery |
| title_fullStr | Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery |
| title_full_unstemmed | Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery |
| title_short | Development of a Bioinspired Soft Robotic System for Teleoperated Endoscopic Surgery |
| title_sort | development of a bioinspired soft robotic system for teleoperated endoscopic surgery |
| url | https://spj.science.org/doi/10.34133/cbsystems.0289 |
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