Development of a Novel Gastrointestinal Endoscopic Robot Enabling Complete Remote Control of All Operations: Endoscopic Therapeutic Robot System (ETRS).

Keiichiro Kume,Toru Ueda,Nobuo Sakai

doi:10.1155/2019/6909547

Abstract

Background and Objective The master and slave transluminal endoscopic robot and other flexible endoscopy platforms are designed primarily for the remote control of forceps, with manipulation of the endoscope itself still dependent on conventional techniques. We have developed an endoscopic therapeutic robot system (ETRS) that provides complete remote control of all forceps and endoscope operations. Method We carried out endoscopic submucosal dissection (ESD) in porcine stomachs using the ETRS. All procedures were completed with the endoscopist seated at the console the entire time. Results Total en bloc resection was achieved in all 7 cases with no complications. The mean total procedure time was 36.14 ± 14.98 min, the mean size of the resected specimen was 3.39 ± 0.66 cm × 3.03 ± 0.63 cm, and the mean dissection time was 14.91 ± 8.61 min. Conclusion We successfully used the ETRS to perform completely remote-controlled ESD in porcine stomachs.

Highlights

Flexible endoscopy platforms such as the master and slave transluminal endoscopic robot (MASTER) [1,2,3] and the EndoSAMURAI [4,5,6] have been designed primarily for the remote control of forceps, with manipulation of the flexible endoscope itself still dependent on conventional manual techniques
The current third-generation Endoscopic Operation Robot (EOR) is equipped with two-way haptic feedback functions that provide haptic feedback via the master unit while transmitting a force equal to that applied by the operator on the master unit to the endoscope tip, and all scope operations can be performed one-handed [10, 11]
We have developed a master-slave system capable of remotely operating three different endoscopic instruments, and we have combined this with the improved EOR version 3 to create a novel gastrointestinal endoscopic robot in which all operations are completely remote-controlled: the endoscopic therapeutic robot system (ETRS)

Summary

Introduction

Flexible endoscopy platforms such as the master and slave transluminal endoscopic robot (MASTER) [1,2,3] and the EndoSAMURAI [4,5,6] have been designed primarily for the remote control of forceps, with manipulation of the flexible endoscope itself still dependent on conventional manual techniques. This dependence limits developments in this field, and accomplishing treatment with one endoscopist using intuitive manipulation is generally considered important. The performance of endoscopic submucosal dissection (ESD) in porcine stomachs using the ETRS is reported

Methods

Results

Discussion