2017 Volume 55Annual Issue 3AM-Abstract Pages 182
Endoscopic submucosal dissection (ESD) is a radical operation for early-stage cancer of the stomach, colon, and esophagus. In ESD, circumferential cutting of the surrounding mucosa of the lesion and submucosa dissection are performed using electrosurgical knives by scope motion. However, this technique is the requirement of long-term training for safe and short time procedures. To address the issue, we have developed a robotic system using a commercialized endoscope for intuitive operation in one hand. The system consists of three parts: one is a holder for the control body of an endoscope, a grasper of the flexible shaft, and a master controller with four degrees of freedoms. The holder has two-rotation mechanism for two dials of the endoscope. In this study, mechanical tests were performed as measurement of scope motion by sine signal motion. From the results, the robot can manipulate each axis of an endoscope within 200 msec delay.
