Development of an endoscopic continuum robot to enable transgastric surgical obesity treatment

Authors:
Kai Xu;Jiangran Zhao;Albert J. Shih
Affiliations:
University of Michigan - Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, China;University of Michigan - Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, China;Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2012

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Abstract

This paper presents the development of an endoscopic continuum robot for surgical obesity treatment using a transgastric approach. This proposed transgastric gastroplasty approach performs suturing and resizing of a stomach from inside, aiming at further reducing postoperative complications by avoiding the use of skin incisions. The presented design can be inserted into the stomach in a folded configuration and can be unfolded into a working configuration to perform surgical interventions. It uses sutures fabricated from pre-curved super-elastic NiTi (Nickel-Titanium) alloy to facilitate the motion of tissue penetration. Role of the NiTi needle is demonstrated in in-vitro tissue penetrating experiments, while deployment of this endoscopic robot was verified on the prototype.