A Single-Port Robotic System for Transanal Microsurgery—Design and Validation

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Title: A Single-Port Robotic System for Transanal Microsurgery—Design and Validation
Authors: Shang, J
Leibrandt, K
Giataganas, P
Vitiello, V
Seneci, CA
Wisanuvej, P
Liu, J
Gras, G
Clark, J
Darzi, A
Yang, G-Z
Item Type: Journal Article
Abstract: This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventional TEMS approach that uses manual laparoscopic instruments. The new system is based on master-slave robotically controlled tele-manipulation. The slave robot comprises a support arm that is mounted on the operating table, supporting a surgical port and a robotic platform that drives the surgical instruments. The master console includes a pair of haptic devices, as well as a three-dimensional display showing the live video stream of a stereo endoscope inserted through the surgical port. The surgical instrumentation consists of energy delivery devices, graspers, and needle drivers allowing a full TEMS procedure to be performed. Results from benchtop tests, ex vivo animal tissue evaluation, and in vivo studies demonstrate the clinical advantage of the proposed system.
Issue Date: 13-Feb-2017
Date of Acceptance: 13-Feb-2017
URI: http://hdl.handle.net/10044/1/49087
DOI: https://dx.doi.org/10.1109/LRA.2017.2668461
ISSN: 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1510
End Page: 1517
Journal / Book Title: IEEE Robotics and Automation Letters
Volume: 2
Issue: 3
Copyright Statement: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publication Status: Published
Appears in Collections:Faculty of Engineering
Computing



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