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Review
. 2022 Oct 30:2022:7047481.
doi: 10.1155/2022/7047481. eCollection 2022.

Progress in Control-Actuation Robotic System for Gastrointestinal NOTES Development

Huijiang Du  1 , Xiaotong Liu  1 , Hudie Sun  2 , Qi Zhu  1 , Liping Sun  1
Affiliations
Review

Progress in Control-Actuation Robotic System for Gastrointestinal NOTES Development

Huijiang Du et al. Biomed Res Int. .

Abstract

Purpose: Natural orifice transluminal endoscopic surgery (NOTES) is a minimally invasive surgical procedure that reduces patient trauma, infection probability, and rehabilitation time. This paper reviews the progress made in the control-actuation robotic systems for gastrointestinal NOTES development. Material and Methods. A survey on both existing and state-of-the-art control-actuation robotic systems for gastrointestinal NOTES was conducted in December 2021.

Results: Nine control-actuation robotic systems for gastrointestinal NOTES were identified. The structures and specifications of these robotic systems were reported. The technical parameters were also discussed. Special attention was directed to systems using a control-actuation structure and tendon-driven mechanism. The control-actuation robotic systems typically deploy a control-actuation structure and tendon-driven mechanism. Control-actuation robotic systems for gastrointestinal NOTES show great ability to improve operational accuracy and flexibility and flatten the learning curve of procedures. These characteristics suggest that the use of control-actuation robotic systems is worth exploring in future development.

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Conflict of interest statement

The authors declare that there is no conflict of interest regarding the publication of this paper.

Figures

Figure 1
Figure 1
The architecture of the control-actuation structure [15, 16].
Figure 2
Figure 2
Tendon-driven mechanism [1]: (i) end effector, (ii) motor, (iii) pulley, (iv) tendon, and (v) driving drum.
Figure 3
Figure 3
Master console and one of the mechanical actuation arms of the ViaCath system [7]: (a) master console and (b) mechanical actuation arm.
Figure 4
Figure 4
Master console and mechanical actuation arms of EndoSAMURAI™ [20]: (a) master console and (b) mechanical actuation arms.
Figure 5
Figure 5
Master console and mechanical actuation arms of the EndoMaster [23]: (a) master console and (b) mechanical actuation arms.
Figure 6
Figure 6
The mechanically and manually driven endoscopic testbed [26]: (a) master console and (b) mechanical actuation arms.
Figure 7
Figure 7
The structure of the two-armed control-actuation robot [27].
Figure 8
Figure 8
The STRAS system [28]: (a) master console and (b) the distal part of the STRAS system.
Figure 9
Figure 9
The CYCLOPS system [29].
Figure 10
Figure 10
Overview of the EndoMaster EASE system [30].
Figure 11
Figure 11
Overview of the K-FLEX system [32]: (a) master console and (b) mechanical actuation arms.
See this image and copyright information in PMC

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