In vivo robotics for natural orifice transgastric peritoneoscopy

Amy C. Lehman, Jason Dumpert, Nathan A. Wood, Abigail Q. Visty, Shane M. Farritor, Dmitry Oleynikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

Natural Orifice Translumenal Endoscopic Surgery (NOTES) is potentially the next paradigm shift in minimally invasive surgery. Currently, NOTES procedures are performed using modified endoscopic tools with significant constraints. New tools are necessary that allow the surgeon to better visualize and dexterously manipulate within the surgical environment. In this study, a two-armed dexterous miniature in vivo robot with stereoscopic vision capabilities has been developed that addresses many of these constraints. The design and kinematic configuration of the robot allows for its complete insertion into the peritoneal cavity, and provides intuitive visualization and sufficient force application for tissue manipulation within the dexterous workspace. The NOTES robot successfully demonstrated various capabilities in a non-survival natural orifice surgical procedure in a porcine model suggesting the feasibility of using miniature in vivo robots for performing natural orifice procedures within the peritoneal cavity.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent
Subtitle of host publicationNextMed by Design, MMVR 2008
PublisherIOS Press
Pages236-241
Number of pages6
ISBN (Print)9781586038229
StatePublished - 2008
EventMedicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008 - Long Beach, CA, United States
Duration: Jan 30 2008Feb 1 2008

Publication series

NameStudies in Health Technology and Informatics
Volume132
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365

Conference

ConferenceMedicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008
CountryUnited States
CityLong Beach, CA
Period1/30/082/1/08

Keywords

  • In vivo
  • Miniature
  • Natural orifice
  • Robot
  • Translumenal

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management

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