Enhancement of spatial orientation and haptic perception for master-slave robotic Natural Orifice Transluminal Endoscopic Surgery (NOTES)

Natural Orifice Transluminal Endoscopic Surgery (NOTES) has advantages in reducing postoperative abdominal wall pain, wound infection, hernia formation and adhesions. However, loss of spatial orientation and lack of haptic feedback during NOTES are two major technical barriers that hinder safe translation into full clinical practice. A complete solution for enhancing the spatial orientation and haptic perceptions for the surgeon during NOTES is needed to improve its safety and efficiency, and at the same time, reduce its complication and complexity. In this paper, we proposed an Interventional Navigation System (INS) and haptic feedback solution for a master-slave robot for NOTES to fulfill the above-mentioned goal.