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Surgical Robot for Intraluminal Access:An Ex Vivo Feasibility Study

Cyborg and Bionic Systems 2020年第1期2020卷 1-9页

作者： Ryu Nakadate Tsutomu Iwasa Shinya Onogi jumpei arata Susumu Oguri Yasuharu Okamoto Tomohiko Akahoshi Masatoshi Eto Makoto Hashizume Center for Advanced Medical Innovation Kyushu UniversityJapan Kitakyushu Municipal Medical Center Kyushu UniversityJapan Institute of Biomaterials and Bioengineering Tokyo Medical and Dental UniversityJapan Department of Mechanical Engineering Kyushu UniversityJapan Department of Advanced Medicine and Innovative Technology Kyushu University HospitalJapan Kyushu Central Hospital Japan Department of Urology Kyushu UniversityJapan Kyushu University Japan

Early-stage gastrointestinal cancer is often treated by endoscopic submucosal dissection(ESD)using a flexible *** with conventional percutaneous surgery,ESD is much less invasive and provides a high quality of life for the patient because it does not require a skin incision,and the organ is ***,the operator must be highly skilled because ESD requires using a flexible endoscope with energy devices,which have limited degrees of *** facilitate easier manipulation of these flexible devices,we developed a surgical robot comprising a flexible endoscope and two articulating *** robotic system is based on a conventional flexible endoscope,and an extrapolated motor unit moves the endoscope in all its degrees of *** instruments are thin enough to allow insertion of two instruments into the endoscope channel,and each instrument has a bending section that allows for up–down,right–left,and forward–backward *** this study,we performed an ex vivo feasibility evaluation using the proposed robotic system for ESD in a porcine *** procedure was successfully performed by five novice operators without *** findings demonstrated the feasibility of the proposed robotic system and,furthermore,suggest that even operators with limited experience can use this system to perform ESD.

关键词： Robot Access robot

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