A novel robotic suturing system for flexible endoscopic surgery

Lin Cao; Xiaoguo Li; Phuoc Thien Phan; Anthony Meng Huat Tiong; Jiajun Liu; Soo Jay Phee

doi:10.1109/ICRA.2019.8794247

A novel robotic suturing system for flexible endoscopic surgery

Lin Cao^*, Xiaoguo Li, Phuoc Thien Phan, Anthony Meng Huat Tiong, Jiajun Liu, Soo Jay Phee

^*Corresponding author for this work

Nanyang Technological University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

29 Citations (Scopus)

Abstract

Perforations in flexible endoscopy are life-threatening. Defect closure or suturing in flexible endoscopy has long been a critical challenge due to the confined space of the access routes and surgical sites, high dexterity and force demands of suturing tasks, as well as critical size and strength requirements of wound closure. This paper introduces a novel robotic suturing system for flexible endoscopic surgery. This system features a flexible, through-the-scope, five-degree-of-freedom robotic suturing instrument. This instrument allows the surgeon to endoscopically manipulate a needle via a master console to create running stitches and knots in flexible endoscopy, which is not possible with existing devices. Successful ex-vivo trials were conducted inside porcine colons to show how surgical stitches and knots can be endoscopically created and secured in a completely new way. This new technology will change the way how surgeons close defects or perforations in flexible endoscopic surgery.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1514-1520
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8794247
Publication status	Published - May 2019
Externally published	Yes
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: May 20 2019 → May 24 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2019-May
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	5/20/19 → 5/24/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus Subject Areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2019.8794247

Cite this

Cao, L., Li, X., Phan, P. T., Tiong, A. M. H., Liu, J., & Phee, S. J. (2019). A novel robotic suturing system for flexible endoscopic surgery. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 1514-1520). Article 8794247 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794247

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title = "A novel robotic suturing system for flexible endoscopic surgery",

abstract = "Perforations in flexible endoscopy are life-threatening. Defect closure or suturing in flexible endoscopy has long been a critical challenge due to the confined space of the access routes and surgical sites, high dexterity and force demands of suturing tasks, as well as critical size and strength requirements of wound closure. This paper introduces a novel robotic suturing system for flexible endoscopic surgery. This system features a flexible, through-the-scope, five-degree-of-freedom robotic suturing instrument. This instrument allows the surgeon to endoscopically manipulate a needle via a master console to create running stitches and knots in flexible endoscopy, which is not possible with existing devices. Successful ex-vivo trials were conducted inside porcine colons to show how surgical stitches and knots can be endoscopically created and secured in a completely new way. This new technology will change the way how surgeons close defects or perforations in flexible endoscopic surgery.",

author = "Lin Cao and Xiaoguo Li and Phan, {Phuoc Thien} and Tiong, {Anthony Meng Huat} and Jiajun Liu and Phee, {Soo Jay}",

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language = "English",

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Cao, L, Li, X, Phan, PT, Tiong, AMH, Liu, J & Phee, SJ 2019, A novel robotic suturing system for flexible endoscopic surgery. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8794247, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 1514-1520, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8794247

A novel robotic suturing system for flexible endoscopic surgery. / Cao, Lin; Li, Xiaoguo; Phan, Phuoc Thien et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1514-1520 8794247 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Cao L, Li X, Phan PT, Tiong AMH, Liu J, Phee SJ. A novel robotic suturing system for flexible endoscopic surgery. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1514-1520. 8794247. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8794247

A novel robotic suturing system for flexible endoscopic surgery

Abstract

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Bibliographical note

ASJC Scopus Subject Areas

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