Foo Chi-Chung, Yeung Chung-Kwong, Sreedhar Biji, Cheung Jo Lai-Ken, Law Wai-Lun
1 University of Hong Kong, Queen Mary Hospital, Hong Kong, China.
2 Bio-Medical Engineering (HK) Limited, Cyberport, Hong Kong, China.
Surg Innov. 2019 Aug;26(4):436-441. doi: 10.1177/1553350619829589. Epub 2019 Feb 12.
. With increasing experience and technological advancement in surgical instruments, surgeons have explored the feasibility of single-incision laparoscopic surgery and natural orifice transluminal endoscopic surgery (NOTES). These techniques aim to further reduce surgical trauma, but are not popular due to their inherent pitfalls including clashing of instruments, lack of counter traction, lengthy operating time, and so on. A novel surgical robotic system was designed to overcome the limitations of the existing technologies. Animal trials were conducted to demonstrate its feasibility in performing robotic-assisted transrectal cholecystectomy in a porcine model. . The Novel surgical robotic system is a high dexterity, single access port surgical robotic system that enables surgeons to carry out single-port surgical procedure or NOTES. The proposed system's main features include the ability to perform intraabdominal and pelvic surgeries via natural orifices like the vagina or rectum. The system is equipped with multiple miniaturized (16 mm diameter) internally motorized robotic arms, each with a minimum of 7 degrees of freedom, a dual in vivo camera system, a cannula, and an external swivel system. . Robotic-assisted transrectal cholecystectomy was successfully performed in 3 adult male pigs. The estimated blood loss was <10 mL in all 3 cases. There were no intraoperative complications. The system provided good dexterity and clear vision. . The trial demonstrated that the system can provide the surgeon a stable platform with adequate spacing for the transrectal insertion of robotic arms, 3-dimensional vision, and enhanced dexterity in performing NOTES cholecystectomy.
随着手术器械经验的增加和技术进步，外科医生探索了单切口腹腔镜手术和经自然腔道内镜手术（NOTES）的可行性。这些技术旨在进一步减少手术创伤，但由于其固有的缺陷，如器械冲突、缺乏对抗牵引、手术时间长等，并不受欢迎。一种新型手术机器人系统被设计出来以克服现有技术的局限性。进行了动物试验以证明其在猪模型中进行机器人辅助经直肠胆囊切除术的可行性。新型手术机器人系统是一种高灵活性、单接入端口的手术机器人系统，使外科医生能够进行单端口手术或NOTES手术。该系统的主要特点包括能够通过阴道或直肠等自然腔道进行腹腔和盆腔手术。该系统配备有多个小型化（直径16毫米）的内置电动机器人手臂，每个手臂至少有7个自由度、一个双体内摄像系统、一个套管和一个外部旋转系统。在3只成年雄性猪身上成功进行了机器人辅助经直肠胆囊切除术。所有3例估计失血量均<10毫升。术中无并发症。该系统提供了良好的灵活性和清晰的视野。该试验表明，该系统可为外科医生提供一个稳定的平台，具有足够的空间用于机器人手臂经直肠插入、三维视野，并在进行NOTES胆囊切除术中增强灵活性。
