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Article: Enhancement of a master-slave robotic system for natural orifice transluminalendoscopic surgery

TitleEnhancement of a master-slave robotic system for natural orifice transluminalendoscopic surgery
Authors
KeywordsHaptic feedback
Trackin
Interventional navigation system(ins)
Instrumentation design
Issue Date2011
Citation
Annals of the Academy of Medicine Singapore, 2011, v. 40, n. 5, p. 223-230 How to Cite?
AbstractIntroduction: A novel robotic platform for Natural Orifice Transluminal Endoscopic Surgery (NOTES) is presented in this paper. It aims to tackle two crucial technical barriers which hinder its smooth transition from animal studies to clinical trials: providing effectiveinstrumentations to perform complex NOTES procedures and maintaining the spatial orientation for endoscopic navigation. Materials and Methods: The technical barriers are overcome by the design of the robotic system considering size, triangulation, dexterity,maneuver ability and complexity. It is also shown that haptic feedback and interventional navigation system could solve the problem of off-axis manipulation of the camera angle and loss of spatial orientation upon entering the peritoneal cavity in transgastric NOTESprocedure, respectively. Results: Successful ESD (endoscopic submucosal dissection) and wedge hepatic resection have been performed on live pigs with our Master And SlaveTransluminal Endoscopic Robot (MASTER) system, showing its capability to performadvanced endoscopic surgical and NOTES procedures. It is found that the MASTER exhibited good grasping and cutting efficiency. And the lesion resection time could besignifi cantly reduced with more practice between the endoscopist and the robot operator.Conclusion: This study evaluates the feasibility of MASTER system as a platformovercoming the barriers to NOTES. It is also demonstrated that the MASTER could effectively mitigate the technical constraints normally encountered in NOTES procedures.
Persistent Identifierhttp://hdl.handle.net/10722/200021
ISSN
2015 Impact Factor: 1.041
2015 SCImago Journal Rankings: 0.425
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorSun, Zhenglong-
dc.contributor.authorAng, Rui Yee-
dc.contributor.authorLim, Ed Wyn-
dc.contributor.authorWang, Zheng-
dc.contributor.authorHo, Khekyu-
dc.contributor.authorPhee, Soojay-
dc.date.accessioned2014-07-26T23:11:02Z-
dc.date.available2014-07-26T23:11:02Z-
dc.date.issued2011-
dc.identifier.citationAnnals of the Academy of Medicine Singapore, 2011, v. 40, n. 5, p. 223-230-
dc.identifier.issn0304-4602-
dc.identifier.urihttp://hdl.handle.net/10722/200021-
dc.description.abstractIntroduction: A novel robotic platform for Natural Orifice Transluminal Endoscopic Surgery (NOTES) is presented in this paper. It aims to tackle two crucial technical barriers which hinder its smooth transition from animal studies to clinical trials: providing effectiveinstrumentations to perform complex NOTES procedures and maintaining the spatial orientation for endoscopic navigation. Materials and Methods: The technical barriers are overcome by the design of the robotic system considering size, triangulation, dexterity,maneuver ability and complexity. It is also shown that haptic feedback and interventional navigation system could solve the problem of off-axis manipulation of the camera angle and loss of spatial orientation upon entering the peritoneal cavity in transgastric NOTESprocedure, respectively. Results: Successful ESD (endoscopic submucosal dissection) and wedge hepatic resection have been performed on live pigs with our Master And SlaveTransluminal Endoscopic Robot (MASTER) system, showing its capability to performadvanced endoscopic surgical and NOTES procedures. It is found that the MASTER exhibited good grasping and cutting efficiency. And the lesion resection time could besignifi cantly reduced with more practice between the endoscopist and the robot operator.Conclusion: This study evaluates the feasibility of MASTER system as a platformovercoming the barriers to NOTES. It is also demonstrated that the MASTER could effectively mitigate the technical constraints normally encountered in NOTES procedures.-
dc.languageeng-
dc.relation.ispartofAnnals of the Academy of Medicine Singapore-
dc.subjectHaptic feedback-
dc.subjectTrackin-
dc.subjectInterventional navigation system(ins)-
dc.subjectInstrumentation design-
dc.titleEnhancement of a master-slave robotic system for natural orifice transluminalendoscopic surgery-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.pmid21678013-
dc.identifier.scopuseid_2-s2.0-79959308880-
dc.identifier.volume40-
dc.identifier.issue5-
dc.identifier.spage223-
dc.identifier.epage230-
dc.identifier.isiWOS:000291781300005-

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