Towards autonomous robot-assisted natural orifice translumenal endoscopic surgery

A. C. Lehman, N. A. Wood, J. Dumpert, Dmitry Oleynikov, Shane M Farritor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
Pages77-82
Number of pages6
DOIs
StatePublished - Sep 15 2009
Event2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008 - Boston, MA, United States
Duration: Oct 31 2008Nov 6 2008

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings
Volume2

Conference

Conference2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
CountryUnited States
CityBoston, MA
Period10/31/0811/6/08

Fingerprint

Orifices
Surgery
Robots
Dissection
Tissue
Endoscopy
Animals
Automation
Imaging techniques
Geometry

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Lehman, A. C., Wood, N. A., Dumpert, J., Oleynikov, D., & Farritor, S. M. (2009). Towards autonomous robot-assisted natural orifice translumenal endoscopic surgery. In 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008 (pp. 77-82). (ASME International Mechanical Engineering Congress and Exposition, Proceedings; Vol. 2). https://doi.org/10.1115/IMECE2008-66614

Towards autonomous robot-assisted natural orifice translumenal endoscopic surgery. / Lehman, A. C.; Wood, N. A.; Dumpert, J.; Oleynikov, Dmitry; Farritor, Shane M.

2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. 2009. p. 77-82 (ASME International Mechanical Engineering Congress and Exposition, Proceedings; Vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lehman, AC, Wood, NA, Dumpert, J, Oleynikov, D & Farritor, SM 2009, Towards autonomous robot-assisted natural orifice translumenal endoscopic surgery. in 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. ASME International Mechanical Engineering Congress and Exposition, Proceedings, vol. 2, pp. 77-82, 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, United States, 10/31/08. https://doi.org/10.1115/IMECE2008-66614
Lehman AC, Wood NA, Dumpert J, Oleynikov D, Farritor SM. Towards autonomous robot-assisted natural orifice translumenal endoscopic surgery. In 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. 2009. p. 77-82. (ASME International Mechanical Engineering Congress and Exposition, Proceedings). https://doi.org/10.1115/IMECE2008-66614
Lehman, A. C. ; Wood, N. A. ; Dumpert, J. ; Oleynikov, Dmitry ; Farritor, Shane M. / Towards autonomous robot-assisted natural orifice translumenal endoscopic surgery. 2008 Proceedings of ASME International Mechanical Engineering Congress and Exposition, IMECE 2008. 2009. pp. 77-82 (ASME International Mechanical Engineering Congress and Exposition, Proceedings).
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