title: A novel semi-automatic snake robot for natural orifice transluminal endoscopic surgery: preclinical tests in animal and human cadaver models (with video).
abstract: OBJECTIVE
  Natural orifice transluminal endoscopic surgery (NOTES) is an emerging surgical technique. We aimed to design, create, and evaluate a new semi-automatic snake robot for NOTES.
  
  
  METHODS
  The snake robot employs the characteristics of both a manual endoscope and a multi-segment snake robot. This robot is inserted and retracted manually, like a classical endoscope, while its shape is controlled using embedded robot technology. The feasibility of a prototype robot for NOTES was evaluated in animals and human cadavers.
  
  
  RESULTS
  The transverse stiffness and maneuverability of the snake robot appeared satisfactory. It could be advanced through the anus as far as the peritoneal cavity without any injury to adjacent organs. Preclinical tests showed that the device could navigate the peritoneal cavity.
  
  
  CONCLUSIONS
  The snake robot has advantages of high transverse force and intuitive control. This new robot may be clinically superior to conventional tools for transanal NOTES.
authors.affiliation: Biomedical Engineering Branch, National Cancer Center, 323 Ilsan-ro, Ilsandong-gu, Goyang-si, Goyang, Gyeongi-do, 410-769, Republic of Korea.
authors.forename: Jaebum
authors.initials: J
authors.lastname: Son
authors.forename: Chang Nho
authors.initials: CN
authors.lastname: Cho
authors.forename: Kwang Gi
authors.initials: KG
authors.lastname: Kim
authors.forename: Tae Young
authors.initials: TY
authors.lastname: Chang
authors.forename: Hyunchul
authors.initials: H
authors.lastname: Jung
authors.forename: Sung Chun
authors.initials: SC
authors.lastname: Kim
authors.forename: Min-Tae
authors.initials: MT
authors.lastname: Kim
authors.forename: Nari
authors.initials: N
authors.lastname: Yang
authors.forename: Tae-Yun
authors.initials: TY
authors.lastname: Kim
authors.forename: Dae Kyung
authors.initials: DK
authors.lastname: Sohn
mesh_terms: D000369:Aged, 80 and over; D000818:Animals; D002102:Cadaver; D019723:Endoscopes; D005240:Feasibility Studies; D006801:Humans; D008297:Male; D008875:Middle Aged; D057605:Natural Orifice Endoscopic Surgery / Q000379:methods*; D012371:Robotics / Q000379:methods*; D013552:Swine