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arXiv · 2506.09444

Design of an innovative robotic surgical instrument for circular stapling

Paul Tucan·Nadim Al Hajjar·Calin Vaida·Alexandru Pusca·Tiberiu Antal·Corina Radu·Daniel Jucan·Adrian Pisla·Damien Chablat·Doina Pisla
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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.

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Paul Tucan, Nadim Al Hajjar, Calin Vaida, Alexandru Pusca, Tiberiu Antal, Corina Radu, Daniel Jucan, Adrian Pisla, Damien Chablat, Doina Pisla. 2025-06-11. Design of an innovative robotic surgical instrument for circular stapling. https://arxiv.org/abs/2506.09444

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