Mechanism Designs for Natural Orifice Surgery: A Review

Surgery, especially intra-abdominal surgery, has taken large steps away from the conventional method of open incisions during the last two decades. Intra-abdominal surgery is now successfully performed through minimally invasive approaches. This paradigm overcomes problems encountered in the conventional method, which include substantial blood loss and long recovery periods for patients. However, a newer approach to surgery involves inserting tools through natural orifices of the patient rather than creating skin incisions. Natural orifice surgery is performed through body orifices like the esophagus or anus. This approach has substantially reduced certain disadvantages of both the conventional and minimally invasive surgeries. Natural orifice surgery has been extensively researched of late, and many institutions and companies have filed patents regarding this approach. Due to the constraints on motion and manipulation, coupled with the continued need for precise control of tool position and forces, mechanical design is an important aspect of these new technologies.