论文库

原文摘要

Endoscopic submucosal dissection (ESD) is a minimally invasive approach for removing large polyps from the colon and offers many benefits compared to other surgical approaches. However, ESD is technically very challenging to perform, leading to limited adoption by physicians. We propose the Helping Hand, a two-segment continuum robotic grasper that, together with an electrosurgical knife, enables tissue traction and cutting within a single 3.7 mm working channel. We achieve this functionality by creating a slot at the base of the Helping Hand that lets the electrosurgical knife extend out, enabling countertraction and cutting through one instrument lumen. We evaluate the Helping Hand's workspace and its ability to provide traction forces from different starting configurations. Finally, we demonstrate the full workflow by isolating and removing tissue in an ex vivo chicken thigh, illustrating the potential for the Helping Hand to help improve ESD procedures.