Design of an endoluminal NOTES robotic system

Natural orifice transluminal endoscopic surgery, or NOTES, allows for exceedingly minimally invasive surgery but has high requirements for the dexterity and force capabilities of the tools. An overview of the ViaCath System is presented. This system is a first generation teleoperated robot for endol...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 410 - 416
Main Authors Abbott, D.J., Becke, C., Rothstein, R.I., Peine, W.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Animals
Gastrointestinal tract
Haptic interfaces
Master-slave
Minimally invasive surgery
Orifices
Performance evaluation
Robots
Surgical instruments
Testing
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Summary:Natural orifice transluminal endoscopic surgery, or NOTES, allows for exceedingly minimally invasive surgery but has high requirements for the dexterity and force capabilities of the tools. An overview of the ViaCath System is presented. This system is a first generation teleoperated robot for endoluminal surgery and consists of a master console with haptic interfaces, slave drive mechanisms, and 6 degree-of-freedom, long-shafted flexible instruments that run alongside a standard gastroscope or colonoscope. The system was validated through animal studies. It was discovered that the devices were difficult to introduce into the GI tract and manipulation forces were insufficient. The design of a second generation system is outlined with improvements to the instrument articulation section and a steerable overtube. Results of basic evaluation tests performed on the tools are also presented.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399536