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Updated: May 15, 2026

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
Developing essential rigid-flexible outer sheath to enable novel multi-piercing surgery.
Siyang Zuo1, Takeshi Ohdaira, Kenta Kuwana
1Graduate School of Information Science and Technology, University of Tokyo, Japan. sa.siyou@atre.t.u-tokyo.ac.jp
Summary
A novel rigid-flexible outer sheath device enhances minimally invasive surgery by improving tissue closure, stability, and visualization. This innovation addresses key challenges in natural orifice transluminal endoscopic surgery and needlescopic surgery.
Area of Science:
- Minimally Invasive Surgery
- Surgical Device Engineering
- Gastrointestinal Endoscopy
Background:
- Natural orifice transluminal endoscopic surgery (NOTES) faces challenges in tissue closure, triangulation, and platform stability.
- Needlescopic surgery (NS) is limited by a restricted visual field, potential organ damage, and difficulties in specimen retrieval.
- Existing surgical technologies require மேம்படுத்தல் to overcome these limitations for safer and more effective procedures.
Purpose of the Study:
- To develop and evaluate a novel rigid-flexible outer sheath device designed to address limitations in NOTES and NS.
- To introduce a device with enhanced maneuverability, stability, and integrated functionalities for advanced endoscopic procedures.
Main Methods:
- Development of a rigid-flexible outer sheath incorporating a pneumatic shape-locking mechanism for selective shape control.
- Integration of four-directional distal flexion, four working channels, and suction/water jet capabilities.
- In vivo testing of the prototype device in a swine model for partial gastrectomy.
Main Results:
- The novel outer sheath system demonstrated successful pre-clinical performance in a swine model.
- The device's shape-locking mechanism allowed for selective rigidity and flexibility.
- The integrated features facilitated complex surgical maneuvers during the partial gastrectomy procedure.
Conclusions:
- The developed rigid-flexible outer sheath system shows significant promise for overcoming critical challenges in NOTES and NS.
- This advanced device has the potential to improve surgical outcomes and expand the applicability of minimally invasive endoscopic techniques.
- Further research and clinical validation are warranted to fully establish the benefits of this innovative surgical tool.

