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Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1816. Epub 2017 Mar 7.

Natural orifice transluminal endoscopic surgery with a snake-mechanism using a movable pulley.

Author information

1
Biomedical Engineering Branch, Research Institute and Hospital, National Cancer Center, Republic of Korea.
2
Biomedical Engineering Research Center, Asan Medical Center, Republic of Korea.

Abstract

BACKGROUND:

Natural orifice transluminal endoscopic surgery is an emerging technique. We aimed to develop an advanced surgical robot mechanism for natural orifice surgery.

METHODS:

We propose the active-controlled overtube-type platform with multiple channels for an endoscopic camera and surgical tools. To make such a platform, we suggest an advanced snake mechanism comprising movable pulleys to make a snake mechanism with multiple degrees of freedom and high operating force.

RESULTS:

The stiffness and maneuverability of the active-controlled platform appeared satisfactory. Using prototypes and ex vivo experiments, we confirmed that the mechanism was suitable for a snake-like robotic platform for natural orifice surgery.

CONCLUSIONS:

The suggested snake mechanism using movable pulleys has the advantages of stiffness and maneuverability. This new mechanism can be an alternative platform for natural orifice surgery.

KEYWORDS:

TME; natural orifce surgery; rectum; robot design

PMID:
28271600
DOI:
10.1002/rcs.1816
[Indexed for MEDLINE]

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