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simmediumgraspingmetric · varies
Deep-Learning-Based Control of a Decoupled Two-Segment Continuum Robot for Endoscopic Submucosal Dissection
Description
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the development of more advanced solutions. To address this, DESectBot, a novel dual segment continuum robot with a decoupled structure and integrated surgical forceps, enabling 6 degrees of freedom (DoFs) tip dexterity for improved lesion targeting in ESD, was developed in this work. Deep learning controllers based on gated recurre