Kume Keiichiro
The Third Department of Internal Medicine, School of Medicine, University of Occupational and Environmental Health, Japan.
J UOEH. 2015 Jun 1;37(2):149-56. doi: 10.7888/juoeh.37.149.
The robotic system for flexible endoscopy was first developed as a platform enabling tissue triangulation in natural-orifice translumenal endoscopic surgery (NOTES). Then endoscopic submucosal dissection (ESD) was introduced and has widely been employed for the treatment of early gastrointestinal carcinoma. Subsequently, endoscopists became well aware of the limitations of their endoscopic manipulations with the conventional flexible endoscopes developed for diagnostic use, which led to the development of robotic systems for upper/lower gastrointestinal tract endoscopes intended for therapeutic use. Most flexible robotic endoscopes have 2 mechanical arms attached to the head, allowing surgeons to perform endoscopic manipulations, such as grasping, traction, incision, excision, and hemostasis. However, there are still many challenges that remain to be addressed: the ideal robotic endoscope has not yet been realized. This article reviews the ongoing developments and our own efforts in the area of flexible robotic endoscopy.
用于柔性内镜检查的机器人系统最初是作为一种平台开发的，该平台可在自然腔道内镜手术（NOTES）中实现组织三角定位。随后，内镜黏膜下剥离术（ESD）被引入并广泛应用于早期胃肠道癌的治疗。随后，内镜医师充分意识到他们使用为诊断用途开发的传统柔性内镜进行内镜操作时存在的局限性，这促使了用于上/下胃肠道内镜治疗用途的机器人系统的开发。大多数柔性机器人内镜在头部连接有两个机械臂，使外科医生能够进行内镜操作，如抓取、牵引、切开、切除和止血。然而，仍有许多挑战有待解决：理想的机器人内镜尚未实现。本文综述了柔性机器人内镜领域的当前进展以及我们自己的努力。
