A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study
Gastrointestinal perforations may be caused due to complicated flexible endoscopic procedures such as Endoscopic Submucosal Dissection (ESD), Endoscopic Full-Thickness Resection (EFTR), and Natural Orifice Transluminal Endoscopic Surgery (NOTES). The most reliable approach of closing gastrointestina...
| Main Authors: | , , , , , , , |
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| Format: | Conference Paper |
| Language: | English |
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2020
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| Online Access: | https://hdl.handle.net/10356/138351 |
| _version_ | 1824456756774830080 |
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| author | Cao, Lin Li, Xiaoguo Phan, Phuoc Thien Tiong, Anthony Meng Huat Kaan, Hung Leng Ho, Khek Yu Chiu, Philip Wai Yan Phee, Soo Jay |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Cao, Lin Li, Xiaoguo Phan, Phuoc Thien Tiong, Anthony Meng Huat Kaan, Hung Leng Ho, Khek Yu Chiu, Philip Wai Yan Phee, Soo Jay |
| author_sort | Cao, Lin |
| collection | NTU |
| description | Gastrointestinal perforations may be caused due to complicated flexible endoscopic procedures such as Endoscopic Submucosal Dissection (ESD), Endoscopic Full-Thickness Resection (EFTR), and Natural Orifice Transluminal Endoscopic Surgery (NOTES). The most reliable approach of closing gastrointestinal perforations is by suturing which, however, is usually done through open or laparoscopic surgery. Suturing through flexible endoscopic procedures is highly desirable but challenging due to the confined space of the lumen and target area, high dexterity and force demands of suturing tasks, and critical size and strength requirements of the closure. Although two endoscopic defect closure devices exist on the market, i.e., Over-The-Scope Clip (OTSC, Ovesco Endoscopy Inc., Germany) and OverStitich (Apollo Endosurgery Inc., US), both devices are not for standard suturing due to the use of clips or fastening elements, and they are limited with large sizes and the lack of dexterity or tool triangulation. We developed a flexible endoscopic robotic suturing system which can endoscopically close gastrointestinal wounds with standard stitches and knots using a robotic suturing arm (Ø4.4 mm) and a grasping arm (Ø4.2 mm). Both arms are flexible, through-the-scope, and have five Degrees Of Freedom (DOFs). This paper presents an in-vivo test of this system suturing an incision on the rectum wall of a live pig. |
| first_indexed | 2025-02-19T03:59:10Z |
| format | Conference Paper |
| id | ntu-10356/138351 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:59:10Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1383512023-03-04T17:08:17Z A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study Cao, Lin Li, Xiaoguo Phan, Phuoc Thien Tiong, Anthony Meng Huat Kaan, Hung Leng Ho, Khek Yu Chiu, Philip Wai Yan Phee, Soo Jay School of Mechanical and Aerospace Engineering Hamlyn Symposium on Medical Robotics 2019 Robotics Research Centre Engineering::Mechanical engineering::Robots Surgical Robot Suturing System Gastrointestinal perforations may be caused due to complicated flexible endoscopic procedures such as Endoscopic Submucosal Dissection (ESD), Endoscopic Full-Thickness Resection (EFTR), and Natural Orifice Transluminal Endoscopic Surgery (NOTES). The most reliable approach of closing gastrointestinal perforations is by suturing which, however, is usually done through open or laparoscopic surgery. Suturing through flexible endoscopic procedures is highly desirable but challenging due to the confined space of the lumen and target area, high dexterity and force demands of suturing tasks, and critical size and strength requirements of the closure. Although two endoscopic defect closure devices exist on the market, i.e., Over-The-Scope Clip (OTSC, Ovesco Endoscopy Inc., Germany) and OverStitich (Apollo Endosurgery Inc., US), both devices are not for standard suturing due to the use of clips or fastening elements, and they are limited with large sizes and the lack of dexterity or tool triangulation. We developed a flexible endoscopic robotic suturing system which can endoscopically close gastrointestinal wounds with standard stitches and knots using a robotic suturing arm (Ø4.4 mm) and a grasping arm (Ø4.2 mm). Both arms are flexible, through-the-scope, and have five Degrees Of Freedom (DOFs). This paper presents an in-vivo test of this system suturing an incision on the rectum wall of a live pig. NRF (Natl Research Foundation, S’pore) Accepted version 2020-05-04T02:42:39Z 2020-05-04T02:42:39Z 2019 Conference Paper Cao, L., Li, X., Phan, P. T., Tiong, A. M. H., Kaan, H. L., Ho, K. Y., . . . Phee, S. J. (2019). A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study. Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019, 97-98. doi:10.31256/hsmr2019.49 https://hdl.handle.net/10356/138351 10.31256/HSMR2019.49 97 98 en © 2019 The Author(s). All rights reserved. This paper was published by The Hamlyn Centre, Imperial College London in Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019 and is made available with permission of The Author(s). application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Surgical Robot Suturing System Cao, Lin Li, Xiaoguo Phan, Phuoc Thien Tiong, Anthony Meng Huat Kaan, Hung Leng Ho, Khek Yu Chiu, Philip Wai Yan Phee, Soo Jay A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study |
| title | A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study |
| title_full | A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study |
| title_fullStr | A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study |
| title_full_unstemmed | A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study |
| title_short | A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study |
| title_sort | flexible endoscopic robotic suturing system for gastrointestinal perforations animal study |
| topic | Engineering::Mechanical engineering::Robots Surgical Robot Suturing System |
| url | https://hdl.handle.net/10356/138351 |
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