Development of a novel deployable arm for natural orifice transluminal endoscopic surgery

Abstract

Background Natural orifice transluminal endoscopic surgery (NOTES) is aided by the instrument channel of an endoscope. Limited by the diameter of the endoscope, the construction of the operation triangle is affected. This paper presents a deployable arm that can increase the distance between the arms. Methods The manipulation arm is composed of a continuum arm and a deployable arm. The deployable arm can be locked by a stay cable and a mechanical structure. The angle between the end‐effectors and the common workspace of the two manipulation arms are comprehensively analysed. Through experiments, the design parameters are validated and justified. Results The experiment shows that the deployment arm can maintain the deformation within 3.5 mm under a 300 g load, and the angle between the two end‐effectors can be maintained within the range of [88°, 110°]. Conclusions The novel deployment arms enlarge the angle between the end effectors, which significantly improves the flexibility of the arms.

Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery

“…k 2xy is the bending stiffness, and k 2z is the torsional stiffness. The Newton iteration method was used to solve Equation (7).…”

“…Re(ϕ 1 , θ 1 ,ϕ 2 ,L 2 ) = Rs (11) To eliminate the redundant nature of Equation ( 10), Equation ( 11) is introduced to solve the inverse kinematics of the CCR. Let the known terminal pose be Rs and let Re be the pose expression solved in Equation (7). By traversing all possible Rs values, the inverse kinematics of the setpoint can be solved by the LM algorithm.…”

“…The ultra-high dexterity makes the continuum robot widely used in various fields of medicine such as laparoscopy and thoracoscopy [5][6][7]. However, with the development of minimally invasive surgery, the requirements for surgical instruments have become stricter.…”

Transgastric versus transrectal: Which access route is the best for NOTES gallbladder‐preserving gallstone therapy?

“…03.320 This reflects the great interest by gastroenterologists and surgeons as well as the potential of NOTES to revolutionize the use of an ultraminimally invasive technique for the diagnosis and/or treatment of mediastinal, thoracic, peritoneal, retroperitoneal, and pelvic pathologies. [10][11][12] However, potential obstacles exist that have limited adoption of NOTES as a routine clinical practice, including how to obtain adequate access to the peritoneal cavity, safe closure of the incision site, and prevention of infection (peritonitis). 13,14 The initial NOTES procedures used both transgastric and transvaginal routes.…”

“…Since Rao et al's description of the first human NOTES procedure in 2004, 4 over 800 full reports describing various NOTES applications in both animal experiments and clinical trials have been published 5–9 . This reflects the great interest by gastroenterologists and surgeons as well as the potential of NOTES to revolutionize the use of an ultra‐minimally invasive technique for the diagnosis and/or treatment of mediastinal, thoracic, peritoneal, retroperitoneal, and pelvic pathologies 10–12 …”