Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery*

In neurosurgery, surgeons use single-function surgical tools such as aspirator and electric-coagulation cutters to deal with blood vessel bleeding. Compared with multi-functional surgical tools, the surgical efficiency of using single-function tools is lower. In this paper, a multiple functional integrated medical robotic end-effector which integrates CCD imaging, electric-coagulation and suction is designed. The end-effector can be installed at the end of the serial robotic arm. The CAD model of the end-effector was constructed, and the motion analysis is carried out. The end-effector is proved to be effective by three experiments. The operator can use the design to suction blood, spotting of bleeding spots, and electric-coagulation lesion. In operations, there is no need to change the surgical tools, improve the efficiency of the operation.

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Publication Details

Published
2024-08-23
DOI
https://doi.org/10.1109/wrcsara64167.2024.10685709
Primary Topic
Soft Robotics and Applications
Type
article
Field-Weighted Citation Impact
0.00

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article

Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery*

Yuanzheng Hou, Xudong Ma, Qian Yang, Junchen Wang et al.
Soft Robotics and Applications
article

Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery*

Yuanzheng Hou, Xudong Ma, Qian Yang, Junchen Wang, Yinjia Zhang, Baiquan Su, Wenyong Liu, Changsheng Li, Haotian Wang, Weihan Li, Yida David Hu, Jie Tang
article en

Abstract

In neurosurgery, surgeons use single-function surgical tools such as aspirator and electric-coagulation cutters to deal with blood vessel bleeding. Compared with multi-functional surgical tools, the surgical efficiency of using single-function tools is lower. In this paper, a multiple functional integrated medical robotic end-effector which integrates CCD imaging, electric-coagulation and suction is designed. The end-effector can be installed at the end of the serial robotic arm. The CAD model of the end-effector was constructed, and the motion analysis is carried out. The end-effector is proved to be effective by three experiments. The operator can use the design to suction blood, spotting of bleeding spots, and electric-coagulation lesion. In operations, there is no need to change the surgical tools, improve the efficiency of the operation.

Beijing Institute of Technology (CN), Brigham and Women's Hospital (US), Harvard University (US), Beijing University of Posts and Telecommunications (CN), Capital Medical University (CN), The University of Tokyo (JP), Beihang University (CN)
National Natural Science Foundation of China, National Key Research and Development Program of China
Openalex Percentile: Top 85%
Soft Robotics and Applications
DOISourceOpenAlex
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