Won SeongHyeon, Kim Chanwoo, Ko Yeonho, Hong Junho, Jeon Jisu, Hong Daehie
Department of Mechanical Engineering, Korea University, Seoul, South Korea.
Department of Mechanical Engineering, KAIST, Daejeon, South Korea.
Int J Med Robot. 2025 Aug;21(4):e70095. doi: 10.1002/rcs.70095.
Endoscopic Retrograde Cholangiopancreatography (ERCP) and Percutaneous Coronary Intervention (PCI) are minimally invasive procedures that treat diseases with minimal scarring and rapid recovery. However, catheterisation under fluoroscopy exposes medical staff to radiation, and navigating flexible guidewires through complex anatomical pathways requires precise control.
To address these challenges, we propose a novel insertion robot based on a Chebyshev lambda mechanism that makes a linear grasp path and an arc-shaped quick return path using a single motor. An integrated roll module enables continuous insertion and rotation, yielding a robot with two degrees of freedom.
Experiments show robots can make sufficient insertion force for real procedures, with robot's maximum mean translational and rotational errors of 0.11 mm and 1.47°, respectively. Phantom model tests show its applicability to human anatomy.
The proposed robotic system demonstrated sufficient precision and force for real surgical applications, indicating its potential for clinical use in minimally invasive procedures.
内镜逆行胰胆管造影术（ERCP）和经皮冠状动脉介入治疗（PCI）是微创手术，治疗疾病时疤痕最小且恢复迅速。然而，在荧光透视下进行导管插入会使医护人员暴露于辐射中，并且在复杂的解剖路径中操控柔性导丝需要精确控制。
为应对这些挑战，我们提出了一种基于切比雪夫λ机构的新型插入机器人，该机器人使用单个电机生成线性抓取路径和弧形快速返回路径。一个集成的滚动模块实现连续插入和旋转，从而产生一个具有两个自由度的机器人。
实验表明，机器人能够为实际手术产生足够的插入力，机器人的最大平均平移误差和旋转误差分别为0.11毫米和1.47°。体模模型测试表明其适用于人体解剖结构。
所提出的机器人系统在实际手术应用中展示出了足够的精度和力量，表明其在微创手术临床应用中的潜力。
