3 accepted papers
Endoscopic submucosal dissection (ESD) is an effective technique to resect early cancers in the gastrointestinal (GI) tract. Bimanual telerobotic manipulation is an approach to performing ESD intuitively and efficiently, which requires two robotic instruments with flexibility, stiffness, dexterity a…
Robot-assisted gastrointestinal endoscopic surgery (GES) as a kind of natural orifice transluminal endoscopic surgery (NOTES) is the next-generation minimally invasive surgery (MIS). Besides, rendering certain autonomy to a Gas-trointestinal Endoscopic Surgical Robot (GESR) is promising but highly c…
This letter presents a miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery, such as the endoscopic submucosal dissection (ESD). The manipulator comprises hollow modules with holes in the sidewall, compact with a 4 mm diameter, and dexterous with s