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Title: Sewing up the wound : a robotic suturing system for flexible endoscopy
Authors: Cao, Lin
Li, Xiaoguo
Phan, Phuoc Thien
Tiong, Anthony Meng Huat
Kaan, Hung Leng
Liu, Jiajun
Lai, Wenjie
Huang, Yanpei
Le, Huu Minh
Miyasaka, Muneaki
Ho, Khek Yu
Chiu, Philip Wai Yan
Phee, Soo Jay
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2020
Source: Cao, L., Li, X., Phan, P. T., Tiong, A. M. H., Kaan, H. L., Liu, J., … Phee, S. J. (2020). Sewing up the wound : a robotic suturing system for flexible endoscopy. IEEE Robotics & Automation Magazine, in press. doi:10.1109/mra.2019.2963161
Journal: IEEE Robotics and Automation Magazine
Abstract: If a perforation occurs as a result of a flexible endoscopic procedure, suturing through urgent laparoscopy or open surgery may be required to repair the perforation because suturing is normally stronger than closure using existing endoscopic devices. Suturing with stitches and knots, widely adopted in open or laparoscopic surgery, is still not possible in flexible endoscopy. This is because of the confined space of the natural orifice and target area, high levels of motion dexterity and force needed for stitching and knot-tying, and critical size and strength requirements of wound closure. We present a novel flexible endoscopic robotic suturing system that is able to suture gastrointestinal defects without opening up the patient’s body like in open or laparoscopic surgery. This system features a robotic needle driver and a robotic grasper, both of which are flexible, through-the-scope (small in sizes), and dexterous with five degrees of freedom. The needle driver, facilitated by the grasper, enables the surgeon to control a needle through teleoperation to make stitches and knots in flexible endoscopy. Successful in vivo trials were conducted in the rectum of a live pig to confirm the feasibility of endoscopic suturing and knot-tying using the system in a realistic surgical scenario (not possible with existing devices which are all manually driven). This new technology will change the way how surgeons close gastrointestinal defects.
ISSN: 1070-9932
DOI: 10.1109/MRA.2019.2963161
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2020 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 Journal Articles

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