Master-Slave Robotic System for Therapeutic Gastrointestinal Endoscopic Procedures

Flexible endoscopy is used to inspect and treat disorders of the gastrointestinal (GI) tract without the need for creating an artificial opening on the patient’s body (Phee, Ng, Chen, Seow, & Davies, 1997). The endoscope is introduced via the mouth or anus into the upper or lower GI tracts respectively. A miniature camera at the distal end captures images of the GI wall that help the clinician in diagnosis of the GI diseases. Simple surgical procedures (like polypectomy and biopsy) can be performed by introducing a flexible tool via a working channel to reach the site of interest at the distal end. The types of procedures that can be performed in this manner are limited by the lack of maneuverability of the tool. More technically demanding surgical procedures like hemostasis for arterial bleeding, suturing to mend a perforation, and fundoplication for gastrooesophageal reflux cannot be effectively achieved with flexible endoscopy. These procedures are often presently being performed under opened or laparoscopic surgeries.