Design of a master and slave transluminal endoscopic robot for natural orifice transluminal endoscopic surgery

Abstract Natural orifice transluminal endoscopic surgery (NOTES) is an endoscopic surgical intervention technique for treatment within the intraperitoneal cavity, which utilizes natural orifices (i.e. mouth, vagina, anus, etc.) as the entry point. In line with minimally invasive surgery (MIS), NOTES...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2010-07, Vol.224 (7), p.1495-1503
Main Authors: Phee, S J, Kencana, A P, Huynh, V A, Sun, Z L, Low, S C, Yang, K, Lomanto, D, Ho, K Y
Format: Article
Language:English
Subjects:
Actuation
Design engineering
Endoscopes
Endoscopy
Feedback
Keyholes
Liver
Manipulators
Mechanical engineering
Mouth
Orifices
Robot arms
Robotic surgery
Robotics
Robots
Scars
Studies
Surgeons
Surgery
Telesurgery
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Summary:Abstract Natural orifice transluminal endoscopic surgery (NOTES) is an endoscopic surgical intervention technique for treatment within the intraperitoneal cavity, which utilizes natural orifices (i.e. mouth, vagina, anus, etc.) as the entry point. In line with minimally invasive surgery (MIS), NOTES aims to perform surgical procedures without skin incisions, thus eliminating unsightly scars. In this article, a master—slave robotic system is proposed to enable the endoscopist to perform demanding NOTES procedures, which are currently performed by surgeons in an opened or keyhole surgery setting. The robotic system consists of a master console and slave manipulators driven by tendon—sheath actuation. Force prediction at the slave end is also introduced in this article to provide force feedback to the surgeon. Using the developed robotic system, liver wedge resection has been conducted in animal trials with promising results.
ISSN:0954-4062
2041-2983
DOI:10.1243/09544062JMES1880