6 accepted papers
Endoscopic submucosal dissection (ESD) is a procedure targeted for early gastrointestinal cancer. Traction plays a crucial role in enhancing the efficiency of cutting lesions, thereby reducing procedural complexity and duration. From the perspective of traction devices, current non-magnetic ones hol
Characteristics of wireless manipulation based on permanent magnet coupling, including anchoring distance, panning torque, and translational force, are assessed in this paper. The study focuses on a typical scenario where a slave robot embedded with a small permanent magnet can be remotely controlle…
This paper is concerned with the issue of the kinematic model-based bending control for the magnetically actuated robotic endoscope and its application for automatic retroflexion. By the utilization of the Cosserat rod theory and the transformation in the magnetic tip of the endoscope, the comprehen…
In minimally invasive surgery, endoscopes serve as the eyes of surgeon. To avoid fatigue in manual endoscope steering, robotic endoscope holders have been developed. Unfortunately, existing robotic endoscope holders are not widely adopted due to the poor surgeon-robot cooperation. In this work, we d
This paper presents a long-range magnetic actuated and guided endoscope for uniport video-assisted thoracic surgery (VATS). In VATS, the incision is quite narrow and part of the chest wall may be very thick. So, the magnetic endoscope system is required to produce sufficient attractive force at a co…
This letter presents the first case of implementing deep-learning based instrument tracking on a magnetic anchored surgical endoscope. The compact magnetic actuated endoscope has a unique structure that allows operations near the anchor surface, ideal for video assisted thoracoscopic surgery (VATS).