A Flexible Instrument for Robotic Assisted Minimally Invasive Esophagectomy
摘要
The paper presents a medical flexible instrument for esophagus stapling that can be integrated in robotic assisted esophagectomy. Starting with several considerations required for esophagectomy surgery, the forward kinematic model of the instrument is presented, followed by a numerical and a graphical simulation to validate the mathematical model of the instrument. A 3D printed mockup is developed in order to test the design of the instrument while simulating the stapling procedure.