Multi-function Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation

• URL: http://arxiv.org/abs/2602.03147v1
• Date: Tue, 03 Feb 2026 06:04:11 GMT
• Title: Multi-function Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation
• Abstract summary: Patients suffering chronic severe pulmonary thromboembolism need Pulmonary Thromboendarterectomy (PTE) to remove thromb and intima located inside pulmonary artery (PA)<n>During the surgery, a surgeon holds tweezers and a dissector to delicately strip the blockage, but available tools for this surgery are rigid and straight.<n>This work presents a novel robotized dissector based on concentric push/pull robot ( CPPR) structure, enabling entering deep thin branch of tortuous PA.
• Score: 9.525776162544446
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Patients suffering chronic severe pulmonary thromboembolism need Pulmonary Thromboendarterectomy (PTE) to remove the thromb and intima located inside pulmonary artery (PA). During the surgery, a surgeon holds tweezers and a dissector to delicately strip the blockage, but available tools for this surgery are rigid and straight, lacking distal dexterity to access into thin branches of PA. Therefore, this work presents a novel robotized dissector based on concentric push/pull robot (CPPR) structure, enabling entering deep thin branch of tortuous PA. Compared with conventional rigid dissectors, our design characterizes slenderness and dual-segment-bending dexterity. Owing to the hollow and thin-walled structure of the CPPR-based dissector as it has a slender body of 3.5mm in diameter, the central lumen accommodates two channels for irrigation and tip tool, and space for endoscopic camera's signal wire. To provide accurate surgical manipulation, optimization-based kinematics model was established, realizing a 2mm accuracy in positioning the tip tool (60mm length) under open-loop control strategy. As such, with the endoscopic camera, traditional PTE is possible to be upgraded as endoscopic PTE. Basic physic performance of the robotized dissector including stiffness, motion accuracy and maneuverability was evaluated through experiments. Surgery simulation on ex vivo porcine lung also demonstrates its dexterity and notable advantages in PTE.

Related papers

• Modular Robotic Catheters for Endovascular Aneurysm Repair [55.52876285801259]
  endovascular aneurysm repair require surgeons to navigate catheters and guidewires into various branches of the abdominal aorta.<n>Previous clinical studies suggest that surgeons continue to struggle with vessel access using standard commercial instruments.<n>We present two contributions to solving this problem: 1) A bespoke 2-segment steerable catheter, consisting of 4 degrees of freedom to enhance dexterity.
  arXiv  Detail & Related papers  (2026-07-28T14:53:03Z)
• Human-Inspired Framework for Robotic Craniotomy: Integrating Multimodal Fusion and Adaptive Trajectory Adjustment [11.44210370034241]
  Manual craniotomy is a high-risk, skill-dependent procedure associated with surgeon fatigue and potential dural injury.<n>We propose a human-inspired closed-loop robotic craniotomy framework that intelligently integrates preoperative planning with intraoperative execution.<n>Experiments on bovine ribs show a breakthrough prediction accuracy of 97%, a detection latency of 0.048 +/- 0.097 s, and a maximum overshoot of 0.29 mm.
  arXiv  Detail & Related papers  (2026-07-23T08:46:42Z)
• Moving Beyond Compliance in Soft-Robotic Catheters Through Modularity for Precision Therapies [0.0]
  Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools.<n>Few sensing and therapeutic modules are compact, robust, and adaptable enough to measure, and respond to, subtle physiological cues during intraluminal procedures.<n>We present a 1.47 mm diameter modular soft robotic catheter that integrates sensing, actuation, and therapy while retaining the compliance needed for safe endoluminal navigation.
  arXiv  Detail & Related papers  (2026-01-21T10:11:59Z)
• Landmark-Free Preoperative-to-Intraoperative Registration in Laparoscopic Liver Resection [50.388465935739376]
  Liver registration by overlaying preoperative 3D models onto intraoperative 2D frames can assist surgeons in perceiving the spatial anatomy of the liver clearly for a higher surgical success rate.<n>Existing registration methods rely heavily on anatomical landmark-based, which encounter two major limitations.<n>We propose a landmark-free preoperative-to-intraoperative registration framework utilizing effective self-supervised learning.
  arXiv  Detail & Related papers  (2025-04-21T14:55:57Z)
• Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms [2.1113382954657594]
  Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions.<n>Despite its critical role, successful vascular access remains challenging due to anatomical variability, overlying adipose tissue, and the need for precise ultrasound guidance.<n>We present a method for autonomous robotic US scanning of bifurcated femoral arteries, and validate it on five vascular phantoms created from real patient computed tomography (CT) data.
  arXiv  Detail & Related papers  (2025-03-09T22:20:25Z)
• Autonomous Vision-Guided Resection of Central Airway Obstruction [0.0]
  Existing tracheal tumor resection methods often lack the precision required for effective airway clearance.<n>We present a vision-guided, autonomous approach for palliative resection of tracheal tumors.
  arXiv  Detail & Related papers  (2025-02-25T19:11:11Z)
• AiAReSeg: Catheter Detection and Segmentation in Interventional Ultrasound using Transformers [75.20925220246689]
  endovascular surgeries are performed using the golden standard of Fluoroscopy, which uses ionising radiation to visualise catheters and vasculature. This work proposes a solution using an adaptation of a state-of-the-art machine learning transformer architecture to detect and segment catheters in axial interventional Ultrasound image sequences.
  arXiv  Detail & Related papers  (2023-09-25T19:34:12Z)
• Medical needle tip tracking based on Optical Imaging and AI [0.0]
  This paper presents an innovative technology for needle tip real-time tracking, aiming for enhanced needle insertion guidance. Specifically, our approach revolves around the creation of scattering imaging using an optical fiber-equipped needle, and uses Convolutional Neural Network (CNN) based algorithms to enable real-time estimation of the needle tip's position and orientation. Given the average femoral arterial radius of 4 to 5mm, the proposed system is demonstrated with a great potential for precise needle guidance in femoral artery insertion procedures.
  arXiv  Detail & Related papers  (2023-08-28T10:30:08Z)
• Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motion [48.52403516006036]
  This paper proposes a vision-based approach allowing autonomous robotic US limb scanning. To this end, an atlas MRI template of a human arm with annotated vascular structures is used to generate trajectories. In all cases, the system can successfully acquire the planned vascular structure on volunteers' limbs.
  arXiv  Detail & Related papers  (2022-08-10T15:39:20Z)
• Learning-Based Keypoint Registration for Fetoscopic Mosaicking [65.02392513942533]
  In Twin-to-Twin Transfusion Syndrome (TTTS), abnormal vascular anastomoses in the monochorionic placenta can produce uneven blood flow between the two fetuses. We propose a learning-based framework for in-vivo fetoscopy frame registration for field-of-view expansion.
  arXiv  Detail & Related papers  (2022-07-26T21:21:12Z)
• AI-based Aortic Vessel Tree Segmentation for Cardiovascular Diseases Treatment: Status Quo [55.04215695343928]
  The aortic vessel tree is composed of the aorta and its branching arteries. We systematically review computing techniques for the automatic and semi-automatic segmentation of the aortic vessel tree.
  arXiv  Detail & Related papers  (2021-08-06T08:18:28Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.