Natural orifice transluminal endoscopic surgery with a snake‐mechanism using a movable pulley

摘要

BACKGROUND: Natural orifice transluminal endoscopic surgery is an emerging technique. We aimed to develop an advanced surgical robot mechanism for natural orifice surgery. METHODS: We propose the active-controlled overtube-type platform with multiple channels for an endoscopic camera and surgical tools. To make such a platform, we suggest an advanced snake mechanism comprising movable pulleys to make a snake mechanism with multiple degrees of freedom and high operating force. RESULTS: The stiffness and maneuverability of the active-controlled platform appeared satisfactory. Using prototypes and ex vivo experiments, we confirmed that the mechanism was suitable for a snake-like robotic platform for natural orifice surgery. CONCLUSIONS: The suggested snake mechanism using movable pulleys has the advantages of stiffness and maneuverability. This new mechanism can be an alternative platform for natural orifice surgery.