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dc.contributor.authorCao, Linen_US
dc.contributor.authorLi, Xiaoguoen_US
dc.contributor.authorPhan, Phuoc Thienen_US
dc.contributor.authorTiong, Anthony Meng Huaten_US
dc.contributor.authorKaan, Hung Lengen_US
dc.contributor.authorHo, Khek Yuen_US
dc.contributor.authorChiu, Philip Wai Yanen_US
dc.contributor.authorPhee, Soo Jayen_US
dc.identifier.citationCao, L., Li, X., Phan, P. T., Tiong, A. M. H., Kaan, H. L., Ho, K. Y., . . . Phee, S. J. (2019). A flexible endoscopic robotic suturing system for gastrointestinal perforations : animal study. Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019, 97-98. doi:10.31256/hsmr2019.49en_US
dc.description.abstractGastrointestinal perforations may be caused due to complicated flexible endoscopic procedures such as Endoscopic Submucosal Dissection (ESD), Endoscopic Full-Thickness Resection (EFTR), and Natural Orifice Transluminal Endoscopic Surgery (NOTES). The most reliable approach of closing gastrointestinal perforations is by suturing which, however, is usually done through open or laparoscopic surgery. Suturing through flexible endoscopic procedures is highly desirable but challenging due to the confined space of the lumen and target area, high dexterity and force demands of suturing tasks, and critical size and strength requirements of the closure. Although two endoscopic defect closure devices exist on the market, i.e., Over-The-Scope Clip (OTSC, Ovesco Endoscopy Inc., Germany) and OverStitich (Apollo Endosurgery Inc., US), both devices are not for standard suturing due to the use of clips or fastening elements, and they are limited with large sizes and the lack of dexterity or tool triangulation. We developed a flexible endoscopic robotic suturing system which can endoscopically close gastrointestinal wounds with standard stitches and knots using a robotic suturing arm (Ø4.4 mm) and a grasping arm (Ø4.2 mm). Both arms are flexible, through-the-scope, and have five Degrees Of Freedom (DOFs). This paper presents an in-vivo test of this system suturing an incision on the rectum wall of a live pig.en_US
dc.description.sponsorshipNRF (Natl Research Foundation, S’pore)en_US
dc.rights© 2019 The Author(s). All rights reserved. This paper was published by The Hamlyn Centre, Imperial College London in Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019 and is made available with permission of The Author(s).en_US
dc.subjectEngineering::Mechanical engineering::Robotsen_US
dc.titleA flexible endoscopic robotic suturing system for gastrointestinal perforations : animal studyen_US
dc.typeConference Paperen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.conferenceHamlyn Symposium on Medical Robotics 2019en_US
dc.contributor.researchRobotics Research Centreen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsSurgical Roboten_US
dc.subject.keywordsSuturing Systemen_US
dc.citation.conferencelocationLondon, United Kingdomen_US
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