Novel Design of a Surgical Tool Insertion Robot Using a Chebyshev Lambda Mechanism.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Aug 1, 2025

Abstract

BACKGROUND: 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.

Authors

  • Seonghyeon Won
    Department of Mechanical Engineering, Korea University, Seoul, South Korea.
  • Chanwoo Kim
    Department of Mechanical Engineering, Korea University, Seoul, South Korea.
  • Yeonho Ko
    Department of Mechanical Engineering, Korea University, Seoul, South Korea.
  • Junho Hong
    Department of Mechanical Engineering, Korea University, Seoul, South Korea.
  • Jisu Jeon
    Deptartment of Health Science and Technology, Gachon Advanced Institute for Health Science and Technology (GAIHST), Lee Gil Ya Cancer and Diabetes Institute, Gachon University, Incheon, Republic of Korea.
  • Daehie Hong
    Department of Mechanical Engineering, Korea University, Seoul, South Korea.

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