NOTESへ向けた内視鏡型手術ロボツトの開発

抄録

The past 10 years has seen the development of various endoscopic surgical methods which have been appied to assorted gastric disease cases. One drawback however is the amount of time needed to complete the required procedures due to limited maneuverability. In response to this problem we have designed a new concept of miniature robot which, using an endoscopic eye and two manipulators, is able to grasp the soft tissue within the limited spaces of the body. The robot utilizes two forceps style manipulators attached to either side of the upper gastrointestinal scope. By operating these manipulators the surgeon is able to grasp and lift the soft tissue and then dissect by needle knife. We applied the endorobot to an experimental stomach wall resection using a pig subject. The robot was also to approach other abdominal organs and perform various surgical procedures after penetrating the stomach wall. We are currently reducing the robot's size to improve mobility. After further safety tests and experiments we will apply the system to clinical cases and examine its efficiency.