用于经自然腔道内镜手术（NOTES）的主从式经腔内镜机器人（MASTER）
Master and slave transluminal endoscopic robot (MASTER) for natural orifice transluminal endoscopic surgery (NOTES).
作者信息
Phee S J, Low S C, Huynh V A, Kencana A P, Sun Z L, Yang K
机构信息
Nanyang Technological University, School of Mechanical and Aerospace Engineering, Robotics Research Center, Blk N3-01a-01, 50 Nanyang Ave, Singapore 639798.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:1192-5. doi: 10.1109/IEMBS.2009.5333413.
Although the flexible endoscopy has been widely used in the medical field for many years, there is still great potential in improving the endoscopist's capability to perform therapeutic tasks. Tentatively, tools for the flexible endoscope have poor maneuverability and limited Degree Of Freedom (DOF). In this paper, we propose a surgical robotic system MASTER (Master And Slave Transluminal Endoscopic Robot). MASTER is a dexterous and flexible master-slave device which can be used in tandem with a conventional flexible endoscope. Using this robotic system, ESD (Endoscopic Submucosal Dissection) and NOTES (Natural Orifice Transluminal Endoscopic Surgery) have been conducted on in vivo and ex vivo animal trials with promising results.
尽管软性内窥镜在医学领域已广泛应用多年，但在提高内镜医师执行治疗任务的能力方面仍有巨大潜力。目前，软性内窥镜的工具操作灵活性差且自由度有限。在本文中，我们提出了一种手术机器人系统MASTER（主从式经腔内镜机器人）。MASTER是一种灵巧且灵活的主从式设备，可与传统软性内窥镜配合使用。利用该机器人系统，已在体内和体外动物试验中进行了内镜黏膜下剥离术（ESD）和经自然腔道内镜手术（NOTES），结果令人满意。
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