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Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery
Tao Shen1, Dietric Hennings2, Carl A Nelson1,2
11 University of Nebraska-Lincoln, Lincoln, NE, USA.
Surgical Innovation
|June 19, 2018
Summary
This study introduces a novel bimanual robot designed for natural orifice transluminal endoscopic surgery (NOTES). The robot features a multifunctional manipulator and an articulated drive, overcoming key limitations in current robotic surgical systems.
Area of Science:
- Minimally Invasive Surgery
- Robotics in Medicine
- Surgical Instrumentation
Background:
- Natural orifice transluminal endoscopic surgery (NOTES) offers advantages like no skin incisions and faster recovery.
- Current NOTES robotic systems face challenges in navigation, instrument availability, size-vs-power trade-offs, and surgical force.
- Existing flexible articulated or fully inserted bimanual robots do not fully address multitasking tool needs.
Purpose of the Study:
- To design and evaluate a novel bimanual robot system for natural orifice transluminal endoscopic surgery (NOTES).
- To address limitations of current NOTES robots, including instrument multitasking and size-power trade-offs.
- To enhance navigation and surgical capabilities within the constraints of NOTES procedures.
Main Methods:
- Development of a bimanual robot featuring a multifunctional manipulator capable of on-site instrument exchange.
- Design of an articulated drive mechanism with two independent curvature sections for controlled navigation.
- Formulation of a reconfiguration operation sequence to facilitate robot insertion and optimize size-power balance.
Main Results:
- The developed bimanual robot successfully navigated to the surgical site using its articulated drive mechanism.
- The multifunctional manipulator demonstrated the capability for on-site instrument changes, adapting to surgeon needs.
- Benchtop and animal tests validated the robotic surgery approach, confirming the robot's effectiveness.
Conclusions:
- The novel bimanual robot system effectively addresses critical limitations in current natural orifice transluminal endoscopic surgery (NOTES) robotic platforms.
- The design innovations, including the multifunctional manipulator and articulated drive, enhance surgical feasibility and reduce design trade-offs.
- The demonstrated effectiveness in preliminary tests supports the potential of this robotic approach for advancing NOTES procedures.
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