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- W2026904559 abstract "Complex procedures performed with flexible endoscopes are technically demanding. A major hurdle for Natural Orifice Transluminal Endoscopic Surgery (NOTES) is the difficulty in maneuvering accessories, which can only be moved in one plane in relation to the endoscope. We designed a robotic manipulator for endoscopic use which can simulate the movements of the human upper limbs. The system consists of a master, a telesurgical workstation, and a slave. The master is attached to the upper arm, elbow, wrist and fingers of the operator through an array of sensors. The slave consists of two manipulators attached to the end of a flexible pediatric gastroscope and is constructed with reference to the anatomy of the human upper limbs. Movements of the operator are detected by the sensors and actuated into force signals driving the manipulator via a tendon-sheath mechanism. Each degree of movement is independently controlled by antagonistic tendons. In this way the movements of the upper limbs of the operator and those of the manipulator are synchronized so that the movements of the manipulator are intuitive. Complex and intricate maneuvers such as grasping, retraction and cutting can be effortlessly reproduced. In a prototype designed for endoscopic submucosal dissection, the left arm of the slave consists of a grasper whilst the right arm is a diathermy hook. This has been used in bench and in vivo pig experiments. The joints at the shoulder and elbow provided triangulation for the manipulators and the intuitive movements drastically improved the accuracy of tissue manipulation and simplified the process of dissection." @default.
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- W2026904559 date "2007-04-01" @default.
- W2026904559 modified "2023-09-27" @default.
- W2026904559 title "Robotic Manipulator for Natural Orifice Transluminal Endoscopic Surgery" @default.
- W2026904559 doi "https://doi.org/10.1016/j.gie.2007.03.026" @default.
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