Master and Slave Transluminal Endoscopic Robot (MASTER) for Natural Orifice Transluminal Endoscopic Surgery (NOTES)

Soo Jay Phee; Soon Chiang Low; Kai Yang; Andy Prima Kencana; Van An Huynh; Zhenglong Sun; Davide Lomanto; Khek Yu Ho

doi:10.4018/978-1-61520-977-4.ch002

Master and Slave Transluminal Endoscopic Robot (MASTER) for Natural Orifice Transluminal Endoscopic Surgery (NOTES)

Soo Jay Phee^*, Soon Chiang Low, Kai Yang, Andy Prima Kencana, Van An Huynh, Zhenglong Sun, Davide Lomanto, Khek Yu Ho

^*Corresponding author for this work

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

Abstract

Natural Orifice Transluminal Endoscopic Surgery (NOTES) has advantages in reducing postoperative abdominal wall pain, wound infection, hernia formation and adhesions. However, many technical barriers hinder its safe translation into full clinical practice. In this chapter, we proposed a Master and Slave Transluminal Endoscopic Robot (MASTER) with 9 degree of freedom (DOF) end effectors which are long and flexible so as to enhance endoscopic procedures and NOTES. The robotic system consists of a master console, microprocessor, actuator housing and slave manipulators. 15 ex vivo Endoscopic Submucosal Dissections (ESD), 5 in vivo ESDs and 2 in vivo NOTES had been performed successfully on porcine models. An Interventional Navigation System (INS) based on electromagnetic tracking and Computer Tomography (CT) imaging was also proposed for NOTES, with which the surgeons could be provided with integrated and informative visualization of peritoneal organs and the surgical instruments from a registered 3D patient-specific model together with the tracked endoscope.

Original language	English
Title of host publication	Intelligent Medical Technologies and Biomedical Engineering
Subtitle of host publication	Tools and Applications
Publisher	IGI Global
Pages	22-47
Number of pages	26
ISBN (Electronic)	9781615209781
ISBN (Print)	1615209778, 9781615209774
DOIs	https://doi.org/10.4018/978-1-61520-977-4.ch002
Publication status	Published - Jun 30 2010
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2010 by IGI Global. All rights reserved.

ASJC Scopus Subject Areas

General Business,Management and Accounting
General Economics,Econometrics and Finance
General Medicine

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10.4018/978-1-61520-977-4.ch002

Cite this

Phee, S. J., Low, S. C., Yang, K., Kencana, A. P., Huynh, V. A., Sun, Z., Lomanto, D., & Ho, K. Y. (2010). Master and Slave Transluminal Endoscopic Robot (MASTER) for Natural Orifice Transluminal Endoscopic Surgery (NOTES). In Intelligent Medical Technologies and Biomedical Engineering: Tools and Applications (pp. 22-47). IGI Global. https://doi.org/10.4018/978-1-61520-977-4.ch002

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abstract = "Natural Orifice Transluminal Endoscopic Surgery (NOTES) has advantages in reducing postoperative abdominal wall pain, wound infection, hernia formation and adhesions. However, many technical barriers hinder its safe translation into full clinical practice. In this chapter, we proposed a Master and Slave Transluminal Endoscopic Robot (MASTER) with 9 degree of freedom (DOF) end effectors which are long and flexible so as to enhance endoscopic procedures and NOTES. The robotic system consists of a master console, microprocessor, actuator housing and slave manipulators. 15 ex vivo Endoscopic Submucosal Dissections (ESD), 5 in vivo ESDs and 2 in vivo NOTES had been performed successfully on porcine models. An Interventional Navigation System (INS) based on electromagnetic tracking and Computer Tomography (CT) imaging was also proposed for NOTES, with which the surgeons could be provided with integrated and informative visualization of peritoneal organs and the surgical instruments from a registered 3D patient-specific model together with the tracked endoscope.",

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AU - Phee, Soo Jay

AU - Low, Soon Chiang

AU - Yang, Kai

AU - Kencana, Andy Prima

AU - Huynh, Van An

AU - Sun, Zhenglong

AU - Lomanto, Davide

AU - Ho, Khek Yu

PY - 2010/6/30

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N2 - Natural Orifice Transluminal Endoscopic Surgery (NOTES) has advantages in reducing postoperative abdominal wall pain, wound infection, hernia formation and adhesions. However, many technical barriers hinder its safe translation into full clinical practice. In this chapter, we proposed a Master and Slave Transluminal Endoscopic Robot (MASTER) with 9 degree of freedom (DOF) end effectors which are long and flexible so as to enhance endoscopic procedures and NOTES. The robotic system consists of a master console, microprocessor, actuator housing and slave manipulators. 15 ex vivo Endoscopic Submucosal Dissections (ESD), 5 in vivo ESDs and 2 in vivo NOTES had been performed successfully on porcine models. An Interventional Navigation System (INS) based on electromagnetic tracking and Computer Tomography (CT) imaging was also proposed for NOTES, with which the surgeons could be provided with integrated and informative visualization of peritoneal organs and the surgical instruments from a registered 3D patient-specific model together with the tracked endoscope.

AB - Natural Orifice Transluminal Endoscopic Surgery (NOTES) has advantages in reducing postoperative abdominal wall pain, wound infection, hernia formation and adhesions. However, many technical barriers hinder its safe translation into full clinical practice. In this chapter, we proposed a Master and Slave Transluminal Endoscopic Robot (MASTER) with 9 degree of freedom (DOF) end effectors which are long and flexible so as to enhance endoscopic procedures and NOTES. The robotic system consists of a master console, microprocessor, actuator housing and slave manipulators. 15 ex vivo Endoscopic Submucosal Dissections (ESD), 5 in vivo ESDs and 2 in vivo NOTES had been performed successfully on porcine models. An Interventional Navigation System (INS) based on electromagnetic tracking and Computer Tomography (CT) imaging was also proposed for NOTES, with which the surgeons could be provided with integrated and informative visualization of peritoneal organs and the surgical instruments from a registered 3D patient-specific model together with the tracked endoscope.

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ER -

Master and Slave Transluminal Endoscopic Robot (MASTER) for Natural Orifice Transluminal Endoscopic Surgery (NOTES)

Abstract

Bibliographical note

ASJC Scopus Subject Areas

Access to Document

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