Robotics for Advanced Therapeutic Colonoscopy
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Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeuticinterventions. These procedures require precise maneuvers of instruments, execution of force, effcient transmission of force from theoperator to the point of application, and suffcient dexterity in the mobilization of endoscopic surgical instruments. The conventionalendoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomyof the colon makes inserting, moving, and orientating the endoscope diffcult. Exerting excessive pressure can cause looping of theendoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhancedsystems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks suchas apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous roboticmaster and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotiondevices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers andopened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systemsin the context of their applications to advanced therapeutic colonoscopy.
Abstract
Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeuticinterventions. These procedures require precise maneuvers of instruments, execution of force, effcient transmission of force from theoperator to the point of application, and suffcient dexterity in the mobilization of endoscopic surgical instruments. The conventionalendoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomyof the colon makes inserting, moving, and orientating the endoscope diffcult. Exerting excessive pressure can cause looping of theendoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhancedsystems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks suchas apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous roboticmaster and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotiondevices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers andopened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systemsin the context of their applications to advanced therapeutic colonoscopy.
참고문헌 (30)
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