Development of a decoupling wire driven exoskeletal microarm for endoscopic Submucosal Dissection

Endoscopic Sub-mucosal Dissection (ESD) has the low operability problem during operation by using surgical tools with a simple mechanism. In this paper, newly developed an exoskeletal microarm is proposed. For enabling the surgical operation of cancer tissues during ESD, a gripper is attached to the microarm based on a wire decoupling design. The fabrication methods for the microarm by using an electrical discharge machining and a photolithography are also shown. By using this approach, the developed extra-thin 2-DOF microarm can insert to the endoscope channel with the diameter of 2.7 mm.