A Compact Dual-Mode Twisting Retraction Device for Endoscopic Submucosal Dissection
Haley Mayer, Eran Shlomovitz, James M. Drake, Thomas Looi, Eric D. Diller
Abstract
Endoscopic submucosal dissection (ESD) is a technically difficult, minimally invasive, organ preserving resection technique that yields improved clinical outcomes when compared to current conventional procedures but requires experienced surgeons and specialized skills. Difficulty in applying tension during ESD is recognized as the single greatest barrier to wide adoption of the procedure, and solution of this problem is sure to have wide-reaching and immediate adoption. This work presents a compact wireless retraction device that is magnetically actuated and has a high force output with adaptable traction control. The retraction device is 25 mm long and 4 mm in diameter. The device has two modes of operation: first spooling to collect string slack, then transitions via external permanent magnet to internal string twisting to generate a large retraction force. In slack collection the device can contract 11 cm in length at a speed of 6.88 millimeters per second, then clutch to force mode to reach a peak retraction force of 1.33 N, leveraging the micro-transmission twisted string actuation. The wireless device is designed for endoscopic deployment to any surgical environment or lesion within the gastrointestinal tract.
BibTeX
@inproceedings{iros2025_acompactdualmode,
title = {A Compact Dual-Mode Twisting Retraction Device for Endoscopic Submucosal Dissection},
author = {Haley Mayer and Eran Shlomovitz and James M. Drake and Thomas Looi and Eric D. Diller},
booktitle = {IROS 2025},
year = {2025}
}