Development Of Robotic System To Enhance Therapeutic Gastrointestinal (GI) Endoscopic Procedures

 

Author: –
Last Update: 5 Jan 2006

 

PROJECT DESCRIPTION:

Introduction

The flexible endoscope is used to inspect, diagnose and treat various pathologies in the gastrointestinal (GI) tract. A typical endoscope includes an ultra compact CCD camera, light source and a channel for infusing or withdrawing liquid or gas from the patient's body. It also possesses multiple channels for passing instruments for electrosurgery, cautery, and for cutting and grasping. The use of such devices has enabled inspection and treatment of abnormalities within the GI tract to be achieved without the need for open surgery.

However, current manual manipulative tools available for the endoscopist to utilize have limited maneuverability. When faced with complex situations such as GI bleeding, existing flexible endoscopic tools do not allow the endoscopist to perform suturing on the affected site in an effective and reliable manner. The only other option a vailable to treat diseases like GI bleeding would be open surgery.

 

Objective

To develop a robotic system which enables the endoscopist to perform technically demanding therapeutic procedures (currently possible only with open surgery) using conventional flexible endoscopes. The robotic system consists of a master console and a slave. The latter is a cable driven robotic manipulator which can be inserted into tool channel of existing endoscopes.

 

Methodology

The robotic system consists of a master console and a slave. The latter is a cable driven robotic manipulator which can be inserted into tool channel of existing endoscopes.

When the endoscopist has traversed the scope to the area of interest within the GI tract, the slave is inserted till the robotic manipulator appears at the distal end of the scope. The endoscopist then moves to the master console where he uses his hands to control ergonomically designed mechanical human machine interfaces.

The slave robotic manipulator would be designed with the required number of degrees of freedom to accurately replicate the endoscopist's hand and wrist motions within the GI tract at real time. Together with the real time endoscopic view, the endoscopist would have the sensation of having both his hands inside the GI tract and would be capable of performing more intricate and difficult surgical procedures.

In addition to enhancing maneuverability, the project also looks into using MEMS and NANO technologies to develop sensors and actuators which could be integrated into the robotic system to increase its functionality. In parallel, the achievements of robotic system could be miniaturized using the said technologies to develop therapeutic ingestible microcapsules in the near future.

 

Advantages

The advantages for the patient include:

• Avoidance of the pain and trauma of open surgery
• Implementation of Minimally invasive surgery which does not leave scars
• Lower costs
• Shorter hospital stays
• Faster recovery period

 

The current main parts:

• Analysis & Control of a Novel Tendon-Sheath Actuation Mechanism
  (LOW Soon Chiang – Ph.D. Student)
• Modeling & Development of Haptic Device for Therapeutic Gastrointestinal Endoscopy
  (SUN Zhenglong – Master Student)
• Development of an Ergonomic Master Controller Device
  (U ZIN Min Thant – Master Student)

 

Video

 

GRANT:

• S$76,125.00, NTU Start Up Grant, SUG 44/04, July 2004.
• S$224,375.60, MOH, NMRC/0827/2004, August 2004.

 

PERSONNEL: