外科
自然口腔镜手术
内窥镜检查
打结
穿孔
医学
模拟
工程类
计算机科学
腹腔镜检查
机械工程
冲孔
作者
Lin Cao,Xiaoguo Li,Phuoc Thien Phan,Anthony Meng Huat Tiong,Hung Leng Kaan,Jiajun Liu,Wenjie Lai,Yanpei Huang,Huu Minh Le,Muneaki Miyasaka,Khek Yu Ho,Philip Wai Yan Chiu,Soo Jay Phee
出处
期刊:IEEE Robotics & Automation Magazine
[Institute of Electrical and Electronics Engineers]
日期:2020-09-01
卷期号:27 (3): 45-54
被引量:26
标识
DOI:10.1109/mra.2019.2963161
摘要
If a perforation occurs as a result of a flexible endoscopic procedure, urgent laparoscopy or open surgery may be required to repair the perforation, because suturing is normally stronger than closure using existing endo-scopic devices. Suturing with stitches and knots, widely adopted in open or laparoscopic surgery, is still not possible in flexible endoscopy. This is due to the confined space of the natural orifice and target area, the high levels of motion dexterity and force needed for stitching and knot tying, and the critical size and strength requirements of wound closure. We present a novel flexible endoscopic robotic suturing system that can suture gastrointestinal defects without opening up the patient's body as in open or laparo scopic surgery. This system features a robotic needle driver and a robotic grasper, both of which are flexible, small enough for through-the-scope delivery, and dexterous with five degrees of freedom (DoF). The needle driver, facilitated by the grasper, enables the surgeon to control a needle through teleoperation and so make stitches and knots in flexible endoscopy. Successful in vivo trials were conducted in the rectum of a live pig to confirm the feasibility of endoscopic suturing and knot tying using the system in a realistic surgical scenario (not possible with existing devices, which are all manually driven) . This new technology will change the way surgeons close gastro intestinal defects.
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