A Master–Slave Controlled Flexible Robotic System for Endoscopic Submucosal Dissection: Integrated Endoscope Guidance and Dual‐Arm Manipulation (With Video)

Key Points

• The research aims to address limitations in conventional endoscopic submucosal dissection (ESD) through a novel robotic system.
• Developed the EndoDreams robotic system with dual-arm manipulation.
• Conducted benchtop and in vivo validation studies.
• Implemented a master-slave control framework for precise tissue handling.
• Demonstrated feasibility of the EndoDreams system in performing ESD.
• Validated clinical safety through in vivo studies.
• Showed improved endoscope delivery and manipulation precision.