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Natural orifice transluminal endoscopic surgery with a snake-mechanism using a movable pulley
Hoyul Lee1,2, Kwang Gi Kim1, Jong Hyun Seo1
1Biomedical Engineering Branch, Research Institute and Hospital, National Cancer Center, Republic of Korea.
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.
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