A Novel, New Robotic Platform for Natural Orifice Distal Pancreatectomy

Thakkar, Shyam; Awad, Michael M.; Gurram, Krishna C.; Tully, Steven; Wright, Cornell; Sanan, Siddharth; Choset, Howie

doi:10.1177/1553350614554232

Cited by 18 publications

(12 citation statements)

References 34 publications

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“…The robot has astounding features that are uncommonly found in conventional MIS robots [22]. As a proof of concept, models of the snake-like robot were developed for flexible percutaneous intra-pericardial interventions in Ota et al [23] and Thakkar et al [24]. Recently, Medrobotics Corp. (Raynham, MA, USA) developed a snake-like robotic system with flexible navigational access for hard-to-reach tissues in the mouth, throat, rectum, and colon during gynecological and thoracic procedures [25].…”

Section: Literature Reviewmentioning

confidence: 99%

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

et al. 2020

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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot's movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot's links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.

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Section: Literature Reviewmentioning

confidence: 99%

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

et al. 2020

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“…Developing interfaces that are both intuitive and simple to use is crucial for NOTES dissemination [57]. The minimally invasive cardiac surgery (MICS) robot [58] is another step towards optimisation of the NOTES technique and to address the problems of optics, flexibility and the comfortable and adequate exposure. Abdominal navigation and accessing the pancreas was investigated on animals, and based on its success, pancreas resection was performed.…”

Section: Instrumentationmentioning

confidence: 99%

“…Endoscopic necrosectomy and debridement were performed, followed by transoral surgical anastomosis under endoscopic visualisation with the SurgAssist™ SLC 55 (Power Medical Interventions, Langhorne, PA) using 4.8-mm stapler [103]. A robotic platform to perform complex distal pancreatectomy on animal model was described [104].…”

Section: Pancreas Notesmentioning

confidence: 99%

Natural Orifice Translumenal Endoscopic Surgery of the GastroIntestinal Tract

Hussain¹

2015

Endoscopy - Innovative Uses and Emerging Technologies

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Research Focus -NOTES is a new technique that faces numerous challenges. Current technology, training and research activities are conducted to make it a safe and effective minimal access technique.Research Methods Used -This chapter is based on the current evidence of published NOTES studies. Medline search is conducted through November to December , including English literatures only. The search words are NOTES, natural orifice translumenal endoscopic surgery, hybrid NOTES and hybrid natural orifice translumenal endoscopic surgery additional search words are specific for the titles like NOTES gastric, NOTES oesophageal, NOTES biliary, NOTES cholecystectomy, NOTES pancreatic, NOTES small bowel, NOTES colorectal and NOTES appendicectomy. "nimal and human studies are selected after . Small studies are excluded unless they report a novel approach or a new procedure.Results/Findings of the Research -There is development in the technology by installing new platforms, instruments and closure devices to add more safety and security. There is also development in training and research activities across the continents a number of NOTES procedures are performed safely on human beings including cholecystectomy, appendicectomy, peritoneoscopy, POEM and other procedures. Feasibility studies are conducted on animal and human cadaver models including numbers of complex procedures.Main Conclusions and Recommendations -NOTES is evolving and gaining popularity. The growth rate however is slowed by challenges of the need for an ideal working platform and closure devices that are easy to use, cheap and time effective, in addition to the dedicated effective training.

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“…While earlier systems such as the RAVEN [104,105] was still designed for laparoscopic surgery with multiple incisions, later laparoscopic robots were all aimed for single-incision procedures [107][108][109][110][111][112][113][114][115][116]. For endoscopic alternatives, nearly all systems were aimed fully or partially at NOTES [118][119][120][121][122]. General surgery and urologic surgery were the most common two surgical areas mentioned in the system development goals.…”

Section: Global Atention and Trends In Surgical Robotsmentioning

confidence: 99%

“…The success of laparoscopic and endoscopic surgical robots had stimulated worldwide atentions in surgical robot research, for instance, the laparoscopic telesurgical RAVEN robot [104,105], the Magellan endovascular robot [106], snake-like surgical robots [107,108], MRI-compatible surgical robots [109,110], single-incision laparoscopic robots [111][112][113][114][115][116], and endoscopic robots [117][118][119][120][121].…”

Section: Global Atention and Trends In Surgical Robotsmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

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The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

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A Novel, New Robotic Platform for Natural Orifice Distal Pancreatectomy

Cited by 18 publications

References 34 publications

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Natural Orifice Translumenal Endoscopic Surgery of the GastroIntestinal Tract

The Next-Generation Surgical Robots

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