Design of an innovative robotic surgical instrument for circular stapling

2025-06-11

AI Summary

In esophageal cancer surgery, conventional circular staplers suffer from low tissue alignment accuracy, high anastomotic leakage rates, and limited maneuverability in confined operative fields. To address these challenges, this study proposes a novel robotic circular stapling device featuring a first-of-its-kind three-degree-of-freedom actuation mechanism—enabling active anvil motion, synchronized staple-firing kinematics, and 75° distal cartridge articulation. Integrated with a cognitive robotic collaboration system, the device supports intelligent procedural planning, real-time end-effector pose feedback, and human–robot synchronized control. Through multi-DOF mechanical design, kinematic modeling, and high-precision end-effector pose control, the system significantly improves tissue localization and approximation accuracy, reduces anastomotic leakage risk, and shortens the surgeon’s learning curve. Feasibility and efficacy are validated via comprehensive simulation and functional prototype testing.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Vision for Robotics & Autonomous Driving
• Natural Language Processing: Safety and Robustness

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Personalized, context-aware and across-device search
• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments

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.

Problem

• Enhances precision in robotic circular stapling for esophageal cancer surgery
• Reduces post-operative risks and improves tissue alignment
• Integrates cognitive robot assistant for synchronized surgical stapling

Innovation

• Robotic circular stapler with three actuators
• 75-degree bending cartridge for precision
• Kinematic analysis for tip synchronization