Design of a single operator : single balloon enteroscope (SO-SBE) and therapeutic procedure through the SO-SBE

• Main Author: Soon, Yong Jin.
• Other Authors: Ng Wan Sing
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Mechanical engineering::Surgical assistive technology
• Online Access: http://hdl.handle.net/10356/16250
• Institution: Nanyang Technological University

The Single Balloon Enteroscope (SBE) is a novel way of examining the small intestine by using a conventional endoscope in tandem with an overtube. Although the method of SBE proves to be effective and feasible in the area of enteroscopy, it also includes some drawback due to its complicating operating procedures. A second operator is needed to assist the main endoscopist by holding on to the overtube and perform inserting/retracting action as instructed. Therefore, this does not only limit the full control to the main endoscopist, but it also reduces the efficiency of the entire process as a second party is needed to assist the main endoscopist to achieve his/her intention. One of the objectives for this project is to design a Single Operator – Single Balloon Enteroscope (SO-SBE) system so that only one endoscopist is needed for the examination of the small intestine. The design will be able to facilitate the main endoscopist whereby he/she is able to perform therapeutic procedures such as tissue dissection, tumour biopsy/resection, haemostasis and suturing without the help of a second party. A conceptual design for this objective was developed and will be presented in the later part of this report. A multiple degree of freedom robotic system was designed to carry out the insertion/retraction of the overtube and innertube for the endoscopist. The design mainly made used of a clamper and roller system to control the movement of the tubes. In this way, the endoscopist can have full control of the entire tube maneuvering process by just pressing the control buttons of the robotic system. Another objective is to provide a design for therapeutic procedure through the SO- SBE. Currently, minimally invasive surgery such as laparoscopic surgery is widely used due to its less invasive nature and fast recovery time. Minimal invasive surgery has become one of the most important part of general surgery. The concept of therapeutic procedure focuses on the surgery within the GI tract. Surgeons currently can perform therapeutic procedures via surgical channels in the conventional endoscope through which biopsy forceps can be inserted for tissue sampling or polyp removal. However, this process requires a second party to hold on to the endoscope controller before the forceps can be inserted to carry out the process. With the introduction of a robotic system, operation of the endoscope will be greatly facilitated. This greatly enhances the safety of the therapeutic procedures. In the objective two of this project, a concept of how a pair of cutter at the distal end of the endoscope can execute a tissue removal process by controlling the movement of the blades at the proximal end. The cutter will be inserted through the working channel of the endoscope and manipulated via cables which are connected to an actuator console. The master Human Machine Interface will enables the endoscopist to communicate with the robotic device for the tissue removal to be carried out.