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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Variable stiffness outer sheath with "Dragon skin" structure and negative pneumatic shape-locking mechanism.

Siyang Zuo1, Kazuo Iijima, Takahiro Tokumiya

  • 1Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo, Japan, siyang.zuo@gmail.com.

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Summary

A novel rigid and flexible outer sheath was developed to enhance natural orifice transluminal endoscopic surgery (NOTES). This device successfully facilitated a swine partial gastrectomy, overcoming NOTES limitations.

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Area of Science:

  • Minimally Invasive Surgery
  • Surgical Device Development
  • Gastrointestinal Endoscopy

Background:

  • Natural orifice transluminal endoscopic surgery (NOTES) aims for scarless procedures but faces limitations.
  • A novel rigid and flexible outer sheath device, termed multi-piercing surgery (MPS), was engineered to address these challenges.

Purpose of the Study:

  • To introduce and evaluate a novel rigid and flexible outer sheath (MPS) designed to overcome the limitations of NOTES.
  • To assess the mechanical properties and in vivo efficacy of the MPS device.

Main Methods:

  • The MPS device features a "Dragon skin" structure and pneumatic shape-locking mechanism for mode switching.
  • It incorporates a four-directional bending structure at the distal end and multiple working channels.
  • Prototype stiffness was evaluated, followed by an in vivo partial gastrectomy in a swine model.

Main Results:

  • The MPS device demonstrated significantly increased shaft rigidity through its shape-locking mechanism.
  • Successful in vivo partial gastrectomy was performed using the outer sheath via a percutaneous route.
  • The device facilitated instrument insertion after locking its shape.

Conclusions:

  • The developed outer sheath system shows significant potential for improving access and stability in NOTES procedures.
  • This technology offers a promising solution for advancing scarless surgical techniques.