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Title: Pneumatically actuated deployable tissue distension device for NOTES for colon
Authors: Miyasaka, Muneaki
Liu, Jiajun
Cao, Lin
Phee, Soo Jay
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2019
Source: Miyasaka, M., Liu, J., Cao, L., & Phee, S. J. (2019). Pneumatically actuated deployable tissue distension device for NOTES for colon. Proceedings of 2019 International Conference on Robotics and Automation (ICRA), 9828-9833. doi:10.1109/ICRA.2019.8793937
Abstract: When performing some surgical tasks inside colon with NOTES technology, colon tissue could block the task space and occlude the endoscopic vision. In order to solve this problem, we developed a pneumatically driven deployable and undeployable structure which can distend collapsing tissue and can be delivered through a 4.5 mm endoscopic channel. The structure is designed to be flexible enough to pass through colon's tortuous pathway. Also, it is designed to hold its shape without continually applying air pressure after deployment. This allows to make use of an endoscopic channel for the other surgical instruments. Besides, due to the compliant nature of the device, it is safe to deploy inside a smaller space than its maximum deployable size. The functionality of the device was verified with an in-vitro experiment. The structure was successfully deployed inside a pig's colon with an inner diameter of 60 mm by applying 3.5 bars of air pressure and created a sufficient task space for surgical operations.
ISBN: 9781538660263
DOI: 10.1109/ICRA.2019.8793937
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers

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