Flexible endoscopic instrument for diagnosis and treatment of early gastric cancer.
Endoscopic submucosal dissection
Flexible continuum instrument
Flexible diagnostic
Treatment instrument
Journal
Medical & biological engineering & computing
ISSN: 1741-0444
Titre abrégé: Med Biol Eng Comput
Pays: United States
ID NLM: 7704869
Informations de publication
Date de publication:
Nov 2023
Nov 2023
Historique:
received:
15
11
2022
accepted:
14
08
2023
medline:
23
10
2023
pubmed:
23
8
2023
entrez:
22
8
2023
Statut:
ppublish
Résumé
Gastric cancer is a common cancer endangering human life and health worldwide. Early detection and diagnosis of gastric cancer that is normally performed by flexible endoscope can significantly improve the survival rate of patients. However, current endoscopic instruments have some problems, such as limitation of degrees of freedom (DOFs) and lack of surgical triangulation. Meanwhile, the lack of an intraoperative technique for the real-time evaluation of early gastric cancer is also a serious problem. To solve these problems, we have developed a dual-bending flexible endoscopic instrument for the diagnosis and treatment of early gastric cancer. This instrument has a compact structure with a maximum outer diameter of 3 mm and an insertion length of 1220 mm. It has 5 DOFs with a dual-bending function, which can form a surgical operation triangulation to easily perform the endoscopic procedure. Apart from the surgical forceps, the end of the instrument can be equipped with different endoscopic devices to meet the needs of diagnosis and treatment, such as endomicroscopic probes, electrosurgical knives, and laser ablation optical fibers. It is verified that the instrument can carry these devices to complete corresponding tasks, demonstrating the great potential of this instrument in clinical applications.
Identifiants
pubmed: 37608080
doi: 10.1007/s11517-023-02911-1
pii: 10.1007/s11517-023-02911-1
doi:
Types de publication
Journal Article
Review
Langues
eng
Sous-ensembles de citation
IM
Pagination
2815-2828Subventions
Organisme : National Natural Science Foundation of China
ID : Grant 62133010
Organisme : National Key R&D Program of China
ID : Grant 2019YFB1311501
Informations de copyright
© 2023. International Federation for Medical and Biological Engineering.
Références
Sung H et al (2021) 2020 Global cancer statistics GLOBOCAN estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: A Cancer J Clin 71(3):209–249
Sugano K (2015) Screening of gastric cancer in Asia. Best Pract Res Clin Gastroenterol 29(6):895–905
doi: 10.1016/j.bpg.2015.09.013
pubmed: 26651251
Ono H et al (2001) Endoscopic mucosal resection for treatment of early gastric cancer. Gut 48(2):225–229
doi: 10.1136/gut.48.2.225
pubmed: 11156645
pmcid: 1728193
Zuo S, Iijima K, Tokumiya T, Masamune K (2014) Variable stiffness outer sheath with “Dragon skin” structure and negative pneumatic shape-locking mechanism. Int J Comput Assist Radiol Surg 9:857–865
doi: 10.1007/s11548-014-0981-4
pubmed: 24500105
Schmitz A, Shen T, Berthet-Rayne P, Yang GZ (n.d.) A rolling-tip flexible instrument for minimally invasive surgery. Int Conf Robot Autom 2019:379–385
Yuan X, Da L, Gong M (2014) Design and research on a shape memory alloy-Actuated single-port laparoscopic surgical robot. IEEE Int Confer Mechatron Auto 2014:1654–1658
Ping Z, Zhang T, Zhang C, Liu J, Zuo S (2021) Design of contact-aided compliant flexure hinge mechanism using superelastic nitinol. J Mech Design 143(11):114501
Jani JM, Leary M, Subic A, Gibson MA (2014) A review of shape memory alloy research, applications and opportunities. Mater Des 1980–2015(56):1078–1113
doi: 10.1016/j.matdes.2013.11.084
Fischer H, Vogel B, Pfleging W (1999) Flexible distal tip made of nitinol (NiTi) for a steerable endoscopic camera system. Mater Sci Eng A 273:780–783
doi: 10.1016/S0921-5093(99)00415-3
von Recum AF (1998) Handbook of biomaterials evaluation: scientific, technical and clinical testing of implant materials. CRC Press
Chitalia YC, Jeong S, Deaton N, Chern JJ, Desai JP (2020) Design and kinematics analysis of a robotic pediatric neuroendoscope tool body. IEEE/ASME Trans Mechatronics PP(99):1–1
Pettersen KY (2017) Snake robots. Annu Rev Control 44:19–44
doi: 10.1016/j.arcontrol.2017.09.006
Greer JD, Morimoto TK, Okamura AM, Hawkes EW (2017) Series pneumatic artificial muscles (sPAMs) and application to a soft continuum robot. IEEE Int Conf Robot Autom 2017:5503–5510
pubmed: 29379672
pmcid: 5786173
Burgner-Kahrs J, Rucker DC, Choset H (2015) Continuum robots for medical applications: a survey. IEEE Trans Rob 31(6):1261–1280
doi: 10.1109/TRO.2015.2489500
Kato T, Okumura I, Song S-E, Golby AJ, Hata N (2014) Tendon-driven continuum robot for endoscopic surgery: preclinical development and validation of a tension propagation model. IEEE/ASME Trans Mechatron 20(5):2252–2263
doi: 10.1109/TMECH.2014.2372635
Du Z, Yang W, Dong W (2015) Kinematics modeling of a notched continuum manipulator. Robot 7(4):041017
York PA, Swaney PJ, Gilbert HB, Webster RJ (2015) A wrist for needle-sized surgical robots. IEEE Int Conf Robot Autom 2015:1776–1781
pubmed: 26405562
pmcid: 4578322
Alambeigi F et al (2019) On the use of a continuum manipulator and a bendable medical screw for minimally invasive interventions in orthopedic surgery. IEEE Trans Med Robot Bionics 1(1):14–21
doi: 10.1109/TMRB.2019.2895780
pubmed: 32984776
pmcid: 7518451
Tan YK, Fielding JW (2006) Early diagnosis of early gastric cancer. Eur J Gastroenterol Hepatol 18(8):821–829
doi: 10.1097/00042737-200608000-00004
pubmed: 16825897
Wallace MB, Fockens P (2009) Probe-based confocal laser endomicroscopy. Gastroenterology 136(5):1509–1513
doi: 10.1053/j.gastro.2009.03.034
pubmed: 19328799
Pohl H et al (2008) Miniprobe confocal laser microscopy for the detection of invisible neoplasia in patients with Barrett’s oesophagus. Gut 57(12):1648–1653
doi: 10.1136/gut.2008.157461
pubmed: 18755886
Newton RC, Kemp SV, Yang G-Z, Elson DS, Darzi A, Shah PL (2012) Imaging parenchymal lung diseases with confocal endomicroscopy. Respir Med 106(1):127–137
doi: 10.1016/j.rmed.2011.09.009
pubmed: 22000588
Newton RC et al (2011) Progress toward optical biopsy: bringing the microscope to the patient. Lung 189(2):111–119
doi: 10.1007/s00408-011-9282-7
pubmed: 21336942
Wang H, Wang S, Li J, Zuo S (2018) Robotic scanning device for intraoperative thyroid gland endomicroscopy. Ann Biomed Eng 46:543–554
doi: 10.1007/s10439-018-1978-x
pubmed: 29340932
Corke PI (2007) A simple and systematic approach to assigning Denavit-Hartenberg parameters. IEEE Trans Rob 23(3):590–594
doi: 10.1109/TRO.2007.896765
Saini S, Orlando MF, Pathak PM (2022) Intelligent control of master-slave based robotic surgical system. J Intell Rob Syst 105(4):1–20
doi: 10.1007/s10846-022-01684-3
Yang Y et al (2020) Safety control method of robot-assisted cataract surgery with virtual fixture and virtual force feedback. J Intell Rob Syst 97(1):17–32
doi: 10.1007/s10846-019-01012-2
Osawa K et al (2022) Stress dispersion design in continuum compliant structure toward multi-dof endoluminal forceps. Appl Sci 12(5):2480
doi: 10.3390/app12052480
Wang H, Wang X, Yang W, Du Z (2020) Design and kinematic modeling of a notch continuum manipulator for laryngeal surgery. Int J Control Autom Syst 18(11):2966–2973
doi: 10.1007/s12555-019-1007-3
Wang Z, Bao S, Wang D, Qian S, Zhang J, Hai M (2023) Design of a novel flexible robotic laparoscope using a two degrees-of-freedom cable-driven continuum mechanism with major arc notches. J Mech Robot 15(6):064502
doi: 10.1115/1.4056502
Mao Y et al (2013) Endoscopic holmium: YAG laser ablation of early gastrointestinal intramucosal cancer. Lasers Med Sci 28(6):1505–1509
doi: 10.1007/s10103-013-1267-8
pubmed: 23329369