Natural Orifice Translumenal Endoscopic Surgery (NOTES) promises to reduce the invasiveness of surgical procedures by accessing the peritoneal cavity through a natural orifice. Current tools for performing NOTES are based on the flexible endoscopy platform, and are significantly limited in imaging and manipulation by the size and geometry of the natural lumen. For NOTES to revolutionize minimally invasive surgery, new approaches are necessary that enable the surgeon to perform procedures with vision and dexterity equivalent to laparoscopic procedures. An image-guided, two-armed, dexterous miniature NOTES robot has been developed that can be placed into the peritoneal cavity through a transgastric incision. Using this robot, the surgeon has effectively demonstrated tissue dissection in non-survivable animal model procedures. A next step in the development of miniature in vivo robots is the automation of routinely performed, low level surgical tasks. This paper details work towards autonomous tissue dissection using the NOTES robot. As a first step, visual tracking and robot control methods are being developed.
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ASME 2008 International Mechanical Engineering Congress and Exposition
October 31–November 6, 2008
Boston, Massachusetts, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4863-0
PROCEEDINGS PAPER
Towards Autonomous Robot-Assisted Natural Orifice Translumenal Endoscopic Surgery
A. C. Lehman,
A. C. Lehman
University of Nebraska - Lincoln, Lincoln, NE
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N. A. Wood,
N. A. Wood
University of Nebraska - Lincoln, Lincoln, NE
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J. Dumpert,
J. Dumpert
University of Nebraska - Lincoln, Lincoln, NE
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D. Oleynikov,
D. Oleynikov
University of Nebraska Medical Center, Omaha, NE
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S. M. Farritor
S. M. Farritor
University of Nebraska - Lincoln, Lincoln, NE
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A. C. Lehman
University of Nebraska - Lincoln, Lincoln, NE
N. A. Wood
University of Nebraska - Lincoln, Lincoln, NE
J. Dumpert
University of Nebraska - Lincoln, Lincoln, NE
D. Oleynikov
University of Nebraska Medical Center, Omaha, NE
S. M. Farritor
University of Nebraska - Lincoln, Lincoln, NE
Paper No:
IMECE2008-66614, pp. 77-82; 6 pages
Published Online:
August 26, 2009
Citation
Lehman, AC, Wood, NA, Dumpert, J, Oleynikov, D, & Farritor, SM. "Towards Autonomous Robot-Assisted Natural Orifice Translumenal Endoscopic Surgery." Proceedings of the ASME 2008 International Mechanical Engineering Congress and Exposition. Volume 2: Biomedical and Biotechnology Engineering. Boston, Massachusetts, USA. October 31–November 6, 2008. pp. 77-82. ASME. https://doi.org/10.1115/IMECE2008-66614
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