Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

author = {Vrielink, TJCO and Chao, M and Darzi, A and Mylonas, GP},
doi = {10.1109/ICRA.2018.8462698},
pages = {150--157},
publisher = {IEEE Computer Soc.},
title = {ESD CYCLOPS: A new robotic surgical system for GI surgery},
url = {},
year = {2018}

RIS format (EndNote, RefMan)

AB - Gastrointestinal (GI) cancers account for 1.5 million deaths worldwide. Endoscopic Submucosal Dissection (ESD) is an advanced therapeutic endoscopy technique with superior clinical outcome due to the minimally invasive and en bloc removal of tumours. In the western world, ESD is seldom carried out, due to its complex and challenging nature. Various surgical systems are being developed to make this therapy accessible, however, these solutions have shown limited operational workspace, dexterity, or low force exertion capabilities. The current paper shows the ESD CYCLOPS system, a bimanual surgical robotic attachment that can be mounted at the end of any flexible endoscope. The system is able to achieve forces of up to 46N, and showed a mean error of 0.217mm during an elliptical tracing task. The workspace and instrument dexterity is shown by pre-clinical ex vivo trials, in which ESD is successfully performed by a GI surgeon. The system is currently undergoing pre-clinical in vivo validation.
AU - Vrielink,TJCO
AU - Chao,M
AU - Darzi,A
AU - Mylonas,GP
DO - 10.1109/ICRA.2018.8462698
EP - 157
PB - IEEE Computer Soc.
PY - 2018///
SN - 1050-4729
SP - 150
TI - ESD CYCLOPS: A new robotic surgical system for GI surgery
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ER -