Master and slave transluminal endoscopic robot (MASTER) for natural Orifice Transluminal Endoscopic Surgery (NOTES)

Author

Phee, S.J. ; Low, S.C. ; Huynh, V.A. ; Kencana, A.P. ; Sun, Z.L. ; Yang, K.

Author_Institution

Robot. Res. Center, Nanyang Technol. Univ., Singapore, Singapore

fYear

2009

fDate

3-6 Sept. 2009

Firstpage

1192

Lastpage

1195

Abstract

Although the flexible endoscopy has been widely used in the medical field for many years, there is still great potential in improving the endoscopist´s capability to perform therapeutic tasks. Tentatively, tools for the flexible endoscope have poor maneuverability and limited Degree Of Freedom (DOF). In this paper, we propose a surgical robotic system MASTER (Master And Slave Transluminal Endoscopic Robot). MASTER is a dexterous and flexible master-slave device which can be used in tandem with a conventional flexible endoscope. Using this robotic system, ESD (Endoscopic Submucosal Dissection) and NOTES (Natural Orifice Transluminal Endoscopic Surgery) have been conducted on in vivo and ex vivo animal trials with promising results.

Keywords

dexterous manipulators; endoscopes; medical robotics; surgery; ESD; MASTER; NOTES; degree of freedom; dexterous master-slave device; endoscopic submucosal dissection; flexible master-slave device; master and slave transluminal endoscopic robot; natural orifice transluminal endoscopic surgery; robotic slave manipulator; surgical robotic system; NOTES; flexible endoscopy; master slave; surgical robotics; Animals; Biomedical Engineering; Endoscopes; Endoscopy; Equipment Design; Humans; Liver; Models, Animal; Robotics; Surgery, Computer-Assisted;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE

Conference_Location

Minneapolis, MN

ISSN

1557-170X

Print_ISBN

978-1-4244-3296-7

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2009.5333413

Filename

5333413