Highly Dexterous Robotic Insertion Tube for Enhanced Minimally Invasive Surgical Procedures
Date
2024-06-24
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Abstract
Current surgical robotic and endoscopic systems permit minimally invasive access to numerous anatomical sites and have demonstrated many benefits by improving diagnostic capabilities, patient outcomes, and treatment efficiency. These advances are not without limitations, as current systems are designed for access to a narrow range of anatomical sites through the requirement of specific sites of entry (natural conduits or straight-line access) and minimal dexterity. Here, I propose to greatly broaden the capabilities of surgical robotic systems through the creation of a highly dexterous and discretely configurable robotic insertion tube for enhanced minimally invasive surgical procedures. A priority of this system, which I term Serpento, is usability in small settings, including remote and rural communities. As such, this system is designed to be cost-effective and suited for mass production. The ability to assume a vast number of discrete and defined configurations allows Serpento to provide access to currently inaccessible tissue and travel independently of natural conduits (i.e. the colon). At its core, the robotic insertion tube underlying Serpento is comprised of a sequence of several hundred ring components, that are each individually addressable teeter-totter mechanisms. The unique structure, formed by the assembly of these components, improves the maneuverability of the system, which allows it to precisely follow complex access paths. Furthermore, a central channel may contain tubes for suction, for example, or to allow for the advancement of tools as seen in current endoscopes. Serpento has become a tangible possibility through computer-aided design (CAD), 3D printing, and assistance by Dr. Matthias Amrein and Dr. Salvatore Federico. Ultimately, the innovative work behind Serpento has demonstrated promising results, laying the foundation for its advancement from a conceptual design to a feasible technology.
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Keywords
surgery, minimally invasive surgery, surgical robotics, endoscopy, laparoscopy, novel technology
Citation
Topham, M. J. (2024). Highly dexterous robotic insertion tube for enhanced minimally invasive surgical procedures (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.