Design of an innovative robotic surgical instrument for circular stapling

TL;DR

This paper introduces a novel robotic circular stapler that enhances precision and dexterity in minimally invasive esophageal surgeries, aiming to improve tissue alignment and reduce complications.

Contribution

It presents a new robotic stapler with integrated actuators and kinematic analysis, advancing surgical tool design for better outcomes in complex procedures.

Findings

Enhanced tissue alignment capabilities

Improved dexterity in confined spaces

Potential reduction in post-operative complications

Abstract

Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, including circular staplers, face challenges such as limited precision, prolonged recovery times, and complications like leaks and tissue misalignment. This paper presents a novel robotic circular stapler designed to enhance the dexterity in confined spaces, improve tissue alignment, and reduce post-operative risks. Integrated with a cognitive robot that serves as a surgeon's assistant, the surgical stapler uses three actuators to perform anvil motion, cutter/stapler motion and allows a 75-degree bending of the cartridge (distal tip). Kinematic analysis is used to compute the stapler tip's position, ensuring synchronization with a robotic system.