Design and Evaluation of a Novel Rotatable One-Element Snake Bone for NOTES

2018 ◽  
Vol 12 (2) ◽  
Author(s):  
Bin Liu ◽  
Aoyu Zhang ◽  
John Liu ◽  
Zhimin Han ◽  
Tianyu Xie
Keyword(s):  
Endoscopic Surgery ◽  
Screw Theory ◽  
Motion Sensors ◽  
Natural Orifice ◽  
Angle Error ◽  
Bending Angle ◽  
Rotational Angle ◽  
Dc Motors ◽  
Movement Mechanism ◽  
The Relationship

The distal head of the natural orifice transluminal endoscopic surgery (NOTES) platform commonly uses the structure of a snake bone, which cannot rotate, and the manufacturing is often time-consuming. A novel rotatable, one-element snake bone for NOTES is proposed. This paper first describes the movement mechanism and actuation. The new structure, which is composed of hinge pairs for bending and track-sled rings for rotation, was designed to reach a 90 deg bending angle and 62 deg rotational angle. The workspace of the snake bone was derived using screw theory and was simulated on matlab. The relationship between the angle and wire displacement was analyzed in detail. The new snake bone system bent and rotated by manipulating control wires that were actuated by DC motors, and its angular movements were measured by motion sensors with an angle error within ±2.6 deg. The snake bone was mounted on a flexible tube, inserted into a colonoscopy model, and navigated by motor actuation to eventually reach the cecum. The experimental results demonstrate the new snake bone's ability to travel through a natural orifice by rotating and bending, which satisfies the mobility requirement for NOTES.

scholarly journals Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Tao Shen ◽  
Carl A. Nelson ◽  
Kevin Warburton ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation ◽  
Complex Shapes

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2014 ◽  
Author(s):  
Tao Shen ◽  
Kevin Warburton ◽  
Carl A. Nelson ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including an articulated snake-like linkage, motor housing and an arm connector. The ADM contains two independent curvature sections which can articulate into complex S shapes for improved access to surgical targets. A connector between the bimanual arms and the ADM provides an efficient and convenient way to assemble and disassemble the system as necessary for insertion and removal of the robot. Four DC motors guide four pairs of cables with linear actuation to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

scholarly journals Natural Orifice Translumenal Endoscopic Surgery for Anterior Spinal Procedures

2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Priscilla Magno ◽  
Mouen A. Khashab ◽  
Manuel Mas ◽  
Samuel A. Giday ◽  
Jonathan M. Buscaglia ◽  
...  
Keyword(s):  
Thoracic Spine ◽  
Endoscopic Surgery ◽  
Vertebral Column ◽  
Bone Biopsy ◽  
Posterior Mediastinum ◽  
Direct Access ◽  
Thoracic Vertebrae ◽  
Natural Orifice ◽  
Vertebral Bone ◽  
Vertebral Bodies

Background. NOTES techniques allow transesophageal access to the mediastinum. The aim of this study was to assess the feasibility of transesophageal biopsy of thoracic vertebrae.Methods. Nonsurvival experiments on four 50-kg porcine animals were performed. Transesophageal access to the mediastinum was attained using submucosal tunneling technique.Results. The posterior mediastinum was successfully accessed and navigated in all animals. Vertebral bodies and intervertebral spaces were easily approached while avoiding damage to adjacent vessels. Bone biopsy was successfully performed without complications, but the hardness of bone tissue resulted in small and fragmented samples.Conclusions. Peroral transesophageal access into the posterior mediastinum and thoracic vertebral bone biopsy was feasible and safe. The proximity of the esophagus to the vertebral column provides close and direct access to the thoracic spine and opens up new ground for the performance of multilevel anterior spine procedures using NOTES techniques.

Transluminal Closure for Natural Orifice Transluminal Endoscopic Surgery (NOTES): An Ex Vivo Study Comparing Leak Pressures

2007 ◽  
Vol 65 (5) ◽  
pp. AB293
Author(s):  
Marvin Ryou ◽  
Reina D. Pai ◽  
Derek G. Fong ◽  
Christopher C. Thompson
Keyword(s):  
Endoscopic Surgery ◽  
Ex Vivo ◽  
Natural Orifice ◽  
Ex Vivo Study

The detachable balloon: A novel device for safe trans-rectal natural orifice transluminal endoscopic surgery

2021 ◽  
Author(s):  
Li-Xia Zhao ◽  
Zhen-Zhen Liu ◽  
Saif Ullah ◽  
Dan Liu ◽  
Hui-Yu Yang ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Natural Orifice ◽  
Detachable Balloon ◽  
Novel Device
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