Development of locking mechanism for NOTES endoscopic robot

Abstract

Minimally invasive approach in medicine is taking its course toward the elimination of incision on the external surface of the abdomen. Natural orifice transluminal endoscopic surgery (NOTES) is a novel procedure that surgical target is approached through natural orifices such as transgastric, colonic, vaginal, and vesical openings. The advantage of such procedure is that there is no external incision and thus no scar remains. However the operation of NOTES has many limitations such as dexterous manipulation of surgical tools, force capability and stability of the endoscope. To overcome these limitations, a multi-tasking platform composed of endoscopic robot, surgical operation robot and master console is suggested. In this research, locking mechanism for endoscopic robot is developed. Endoscopic robot should be able to offer flexibility and rigidity in NOTES operation and locking mechanism is to change its stiffness property. First of all, the requirement of a locking mechanism is proposed. According to the clinical and anatomical information which is related to the transgastric surgery, the requirement is determined. Various ideas for a locking mechanism are proposed and evaluated by several design items. Selected idea is improved to detail design and manufactured by rapid prototyping to validate the idea. The manufactured prototype is evaluated for locking capability and compatibility as an endoscopic robot. Further, the alternative material is expected to enhance the performance of the proposed locking mechanism and the locking mechanism would be integrated in NOTES multi-tasking platform.