title: Robotic system for no-scar gastrointestinal surgery.
abstract: BACKGROUND
  Flexible endoscopy allows diagnostic and therapeutic interventions on the gastrointestinal (GI) tract. Simple procedures can be performed endoscopically using currently available tools. More advanced endoscopic surgical interventions are much desired and anticipated, yet they await improvements in instrumentation.
  
  
  METHODS
  Presented here is a master-slave robotic system designed for use with flexible endoscopy. The slave is a cable-driven flexible robotic manipulator that can be attached to an endoscope, allowing two-handed endoscopic manipulation with 9-12 degrees of freedom (DOF).
  
  
  RESULTS
  Feasibility has been demonstrated in a porcine intragastric model.
  
  
  CONCLUSIONS
  Further studies should determine whether this novel device can overcome some of the instrumentation-related challenges that have heretofore limited the development of natural orifice transluminal endoscopic surgery.
authors.affiliation: BioRobotics Laboratory, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore. msjphee@ntu.edu.sg
authors.forename: S J
authors.initials: SJ
authors.lastname: Phee
authors.forename: S C
authors.initials: SC
authors.lastname: Low
authors.forename: Z L
authors.initials: ZL
authors.lastname: Sun
authors.forename: K Y
authors.initials: KY
authors.lastname: Ho
authors.forename: W M
authors.initials: WM
authors.lastname: Huang
authors.forename: Z M
authors.initials: ZM
authors.lastname: Thant
mesh_terms: D000818:Animals; D002921:Cicatrix / Q000517:prevention & control*; D020776:Endoscopes, Gastrointestinal; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005240:Feasibility Studies; D008328:Man-Machine Systems; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D013552:Swine