Flexible and deployable colon support structure for endoluminal interventions
When performing endoluminal surgery inside the colon using a flexible endoscopic robot, there is a problem of losing visualization and task space due to the collapsing of the surrounding wall. This happens mainly because of the intra-abdominal pressure and peristalsis of the colon. Although insuffla...
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sg-ntu-dr.10356-1526702021-09-10T08:16:57Z Flexible and deployable colon support structure for endoluminal interventions Miyasaka, Muneaki Liu, Jiajun Cao, Lin Lai, Wenjie Li, Xiaoguo Tiong, Anthony Meng Huat Lim, Gerald Cheng Le Quek, Banjamin Wei Jian Kaan, Huang Leng Dolgunov, Dmitrii Ho, Khek Yu Phee, Soo Jay School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering::Surgical assistive technology Surgical Instruments Biomedical Equipment When performing endoluminal surgery inside the colon using a flexible endoscopic robot, there is a problem of losing visualization and task space due to the collapsing of the surrounding wall. This happens mainly because of the intra-abdominal pressure and peristalsis of the colon. Although insufflation is commonly used for expanding the colon, it does not function when a full-thickness incision is created on the colon wall. To support the collapsing colon and ensure sufficient visualization and task space even with a hole, we developed a deployable colon support structure (CSS) that can be seamlessly adapted to the existing procedures. While the CSS is designed to be small and flexible enough to pass through an endoscopic channel that can be tortuous, it becomes steady enough to hold the collapsing/squeezing colon after being deployed. Also, the CSS is collapsible after task completion, for retraction through an endoscopic channel. Through the ex-vivo and in-vivo studies with a swine, we have successfully demonstrated the feasibility of supporting the colon wall during endoluminal interventions with the CSS. We confirmed that the CSS was easily deliverable and deployable and the created space was large enough to perform surgical tasks using robotic arms. National Research Foundation (NRF) Published version This work was supported by the National Research Foundation (NRF) Singapore under Grant NRFI2016-07 2021-09-10T08:16:57Z 2021-09-10T08:16:57Z 2021 Journal Article Miyasaka, M., Liu, J., Cao, L., Lai, W., Li, X., Tiong, A. M. H., Lim, G. C. L., Quek, B. W. J., Kaan, H. L., Dolgunov, D., Ho, K. Y. & Phee, S. J. (2021). Flexible and deployable colon support structure for endoluminal interventions. IEEE Access, 9, 91754-91763. https://dx.doi.org/10.1109/ACCESS.2021.3090411 2169-3536 https://hdl.handle.net/10356/152670 10.1109/ACCESS.2021.3090411 2-s2.0-85112448867 9 91754 91763 en NRFI2016-07 IEEE Access © 2021 IEEE. This journal is 100% open access, which means that all content is freely available without charge to users or their institutions. All articles accepted after 12 June 2019 are published under a CC BY 4.0 license, and the author retains copyright. Users are allowed to read, download, copy, distribute, print, search, or link to the full texts of the articles, or use them for any other lawful purpose, as long as proper attribution is given. application/pdf |
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Engineering::Mechanical engineering::Surgical assistive technology Surgical Instruments Biomedical Equipment Miyasaka, Muneaki Liu, Jiajun Cao, Lin Lai, Wenjie Li, Xiaoguo Tiong, Anthony Meng Huat Lim, Gerald Cheng Le Quek, Banjamin Wei Jian Kaan, Huang Leng Dolgunov, Dmitrii Ho, Khek Yu Phee, Soo Jay Flexible and deployable colon support structure for endoluminal interventions |
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When performing endoluminal surgery inside the colon using a flexible endoscopic robot, there is a problem of losing visualization and task space due to the collapsing of the surrounding wall. This happens mainly because of the intra-abdominal pressure and peristalsis of the colon. Although insufflation is commonly used for expanding the colon, it does not function when a full-thickness incision is created on the colon wall. To support the collapsing colon and ensure sufficient visualization and task space even with a hole, we developed a deployable colon support structure (CSS) that can be seamlessly adapted to the existing procedures. While the CSS is designed to be small and flexible enough to pass through an endoscopic channel that can be tortuous, it becomes steady enough to hold the collapsing/squeezing colon after being deployed. Also, the CSS is collapsible after task completion, for retraction through an endoscopic channel. Through the ex-vivo and in-vivo studies with a swine, we have successfully demonstrated the feasibility of supporting the colon wall during endoluminal interventions with the CSS. We confirmed that the CSS was easily deliverable and deployable and the created space was large enough to perform surgical tasks using robotic arms. |
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School of Mechanical and Aerospace Engineering |
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School of Mechanical and Aerospace Engineering Miyasaka, Muneaki Liu, Jiajun Cao, Lin Lai, Wenjie Li, Xiaoguo Tiong, Anthony Meng Huat Lim, Gerald Cheng Le Quek, Banjamin Wei Jian Kaan, Huang Leng Dolgunov, Dmitrii Ho, Khek Yu Phee, Soo Jay |
format |
Article |
author |
Miyasaka, Muneaki Liu, Jiajun Cao, Lin Lai, Wenjie Li, Xiaoguo Tiong, Anthony Meng Huat Lim, Gerald Cheng Le Quek, Banjamin Wei Jian Kaan, Huang Leng Dolgunov, Dmitrii Ho, Khek Yu Phee, Soo Jay |
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Miyasaka, Muneaki |
title |
Flexible and deployable colon support structure for endoluminal interventions |
title_short |
Flexible and deployable colon support structure for endoluminal interventions |
title_full |
Flexible and deployable colon support structure for endoluminal interventions |
title_fullStr |
Flexible and deployable colon support structure for endoluminal interventions |
title_full_unstemmed |
Flexible and deployable colon support structure for endoluminal interventions |
title_sort |
flexible and deployable colon support structure for endoluminal interventions |
publishDate |
2021 |
url |
https://hdl.handle.net/10356/152670 |
_version_ |
1712300645721047040 |