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Robotic system for flexible endoscopy

A technology of robots and endoscopes, applied in the field of robotic systems, can solve problems such as technical difficulties and shortages

Active Publication Date: 2012-11-28
NANYANG TECH UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, endoscopists still often complain about the technical difficulties of introducing long, flexible rods into a patient's anus or mouth, and there is still a lack of a method that can be done without making an incision in the human body and in as short a time as possible. A tool for gastrointestinal surgery because time is of the essence during acute gastrointestinal bleeding

Method used

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  • Robotic system for flexible endoscopy
  • Robotic system for flexible endoscopy
  • Robotic system for flexible endoscopy

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0137] Each ESD in vivo in live animals was performed repeatedly using a conventional endoscope. MAIN OUTCOME MEASURES were: (i) time required to complete submembranous dissection of the entire lesion, (ii) dissection efficacy, (iii) completeness of lesion resection, and (iv) presence or absence of gastric wall perforation.

[0138] Submembranous dissection time can be defined as the time from activation of the endoscopic dissection surgical instrument to complete resection of the entire lesion. The assessment of dissection efficacy is based on two related task components - the score of the efficiency of grasping and excision of the tissue - and the scoring structure ranges from 0 to 2, where the lowest score of "0" indicates grasping / excision failure and the highest score of "2". ” indicates the most efficient grabbing / cutting. Similarly, completeness of lesion resection was scored on a scale of 0-3, where "0" indicated resection failure and "3" indicated complete resection ...

example 2

[0157] MASTER was first tested in transplanted pig stomachs before being tested in live animals. The purpose of the ex vivo test was to test the grasping and cutting performance of the system. The clamps must provide sufficient force to grasp and manipulate tissue, and the hooks must be able to cut at the intended tissue location. The trial also established teamwork and collaboration between endoscopists with more than 20 years of clinical experience and surgeons with less than 5 years of experience manipulating the controller. The results of 15 training sessions on transplanted tissue demonstrate the viability of the system to perform in real animals.

[0158] A wedge resection of the liver was chosen to test the feasibility of the system for NOTES. In vivo testing is performed at the Advanced Surgical Training Center at the National University Hospital of Singapore with the help of experienced endoscopists and surgeons. Using a controller and a robotic manipulator, the NO...

example 3

[0164]In order to successfully apply MASTER in NOTES, ESD was performed. Using the robotic manipulator, intensive trials were conducted to demonstrate the feasibility of the robotic system. With the help of an experienced endoscopist, 15 ex vivo ESDs, 5 in vivo ESDs and 2 in vivo NOTES were successfully performed in pigs. Before the experiment, surgeons practiced with isolated porcine stomachs to determine the necessary steps for ESD and NOTES. This also enables endoscopists to understand the capabilities and limitations of endoscopes and robots.

[0165] Since the prototype was only used on animals, the robot was temporarily cleaned thoroughly with soap, water and a brush, and then reused for additional trials. Future robotic manipulators could be designed to be disposable after a single use, ensuring effective sterilization for use on human patients.

[0166] ESD using MASTER

[0167] The final steps for robot ESD are given below. which provided Figure 16 is a real vi...

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Abstract

A robotic manipulator (100), controller (300) and system for use in flexible endoscopy, the manipulator (100) comprising a flexible member configured to be coupled to an endoscope, and an arm connected to and movable by the flexible member, wherein the flexible member has a first end connected to the arm and a second end connectable to the controller (300) to allow a physical movement of the arm to be controllable by a physical movement of the controller (300).

Description

technical field [0001] The present invention relates to a robotic system for flexible endoscopy, especially but not limited to robotic manipulators, controllers, systems, methods and their applications in surgical operations. Background technique [0002] Along with minimally invasive surgery (MIS), flexible endoscopy (Flexible Endoscopy) is used to examine and treat gastrointestinal (GI, Gastrointestinal) tract diseases without creating an artificial opening in the patient's body . The endoscope is introduced into the upper or lower gastrointestinal tract via the mouth or anus, respectively. A tiny camera at the distal end captures images of the wall of the gastrointestinal tract that aid clinicians in gastrointestinal disease diagnosis. Simple surgical procedures such as polypectomy and biopsy can be performed by introducing a flexible tool through the working channel to reach the relevant location distally. The types of procedures performed in this manner are limited b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00A61B1/00A61B17/00B25J3/04B25J11/00
CPCA61B1/00147A61B2017/00296A61B2019/2223A61B19/2203A61B2017/00278A61B2017/00292A61B2018/1495A61B2019/2296A61B18/14A61B2017/2906A61B2019/464A61B2019/2211A61B2018/1422A61B2017/2929A61B2090/064A61B2034/301A61B34/30A61B34/37A61B34/77Y10S901/34
Inventor S·J·L·彭S·C·洛K·Y·霍S·C·钟
Owner NANYANG TECH UNIV
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