Paper Info
Title
Laparoscopic Surgical Device With Modular End Tools For Real-Time Endomicroscopy And Therapy
Abstract
In recent years, laparoscopic surgery attracts considerable attention for its distinct advantages owing to minimized invasiveness. However, traditional surgical instruments have a single function and lack the ability to provide high-resolution images for real-time tissue assessment. Thus, it remains a challenge to perform complex procedures with the traditional surgical instruments. In this paper, a novel laparoscopic surgical device for real-time endomicroscopy and therapy is proposed. The device is integrated with a visualization unit to provide endoscopic images in a constrained cavity for real-time observation. Moreover, modular end tools can be assembled and switched with the multi-DOF manipulator. The experimental results demonstrate that the surface-scanning tool can perform smooth scanning and obtain a large area mosaic of 6.99 mm(2) in 40.2 s for tissue assessment. The spring-loaded forceps can generate an output force of 1.47 N to manipulate tissue. These experimental results demonstrate the potential value of the device for intraoperative endomicroscopy-guided surgery and robot-assisted surgery.Y
Year
DOI
Venue
2021
10.1007/s11517-021-02341-x
MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING
Keywords
DocType
Volume
Laparoscopic surgery, Medical robotics, Confocal endomicroscopy, Mechanical design
Journal
59
Issue
ISSN
Citations 
4
0140-0118
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Haibo Wang100.34
Siyang Zuo200.68