TraCloser
Traction and closure gripper for Endoscopic Submucosal Dissection (ESD)
The multi-joint forceps of the ROBOPERA platform secure traction by holding, lifting, and pulling the mucous membrane with a robotic gripper (TraCloser), thus ensuring a broader view of the area where the surgery is conducted. This improves the safety of dissection and significantly reduces the perforation rate.
I engineered a compact tendon tensioning mechanism for a Bowden cable-driven surgical robotic gripper to mitigate cable stretch and ensure precise force transmission.
I assisted pig experiments to test the performance of the prototype, which involved conducting an Endoscopic Submucosal Dissection (ESD) procedure. Observing the entire surgical process provided me with valuable insights into the environment in which doctors perform endoscopy and the practical challenges faced during such surgeries.
images from Endo Robotics