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...

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Main Authors: Cao, Lin, Li, Xiaoguo, Phan, Phuoc Thien, Tiong, Anthony Meng Huat, Kaan, Hung Leng, Ho, Khek Yu, Chiu, Philip Wai Yan, Phee, Soo Jay
Other Authors: School of Mechanical and Aerospace Engineering
Format: Conference or Workshop Item
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/138351
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.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
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering::Robots
Surgical Robot
Suturing System
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
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.
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
format Conference or Workshop Item
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
author_sort Cao, Lin
title 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_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_sort flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study
publishDate 2020
url https://hdl.handle.net/10356/138351
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