title: Evaluation of a novel flexible snake robot for endoluminal surgery.
abstract: BACKGROUND
  Endoluminal therapeutic procedures such as endoscopic submucosal dissection are increasingly attractive given the shift in surgical paradigm towards minimally invasive surgery. This novel three-channel articulated robot was developed to overcome the limitations of the flexible endoscope which poses a number of challenges to endoluminal surgery. The device enables enhanced movement in a restricted workspace, with improved range of motion and with the accuracy required for endoluminal surgery.
  
  
  OBJECTIVE
  To evaluate a novel flexible robot for therapeutic endoluminal surgery.
  
  
  METHODS
  Bench-top studies.
  
  
  METHODS
  Research laboratory.
  
  
  METHODS
  Targeting and navigation tasks of the robot were performed to explore the range of motion and retroflexion capabilities. Complex endoluminal tasks such as endoscopic mucosal resection were also simulated.
  
  
  METHODS
  Successful completion, accuracy and time to perform the bench-top tasks were the main outcome measures.
  
  
  RESULTS
  The robot ranges of movement, retroflexion and navigation capabilities were demonstrated. The device showed significantly greater accuracy of targeting in a retroflexed position compared to a conventional endoscope.
  
  
  CONCLUSIONS
  Bench-top study and small study sample.
  
  
  CONCLUSIONS
  We were able to demonstrate a number of simulated endoscopy tasks such as navigation, targeting, snaring and retroflexion. The improved accuracy of targeting whilst in a difficult configuration is extremely promising and may facilitate endoluminal surgery which has been notoriously challenging with a conventional endoscope.
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK. nishakpatel1@gmail.com.|Department of Surgery and Cancer, St. Mary's Hospital, Imperial College London, London, UK. nishakpatel1@gmail.com.
authors: Nisha
authors: N
authors: Patel
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK.
authors: Carlo A
authors: CA
authors: Seneci
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK.
authors: Jianzhong
authors: J
authors: Shang
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK.
authors: Konrad
authors: K
authors: Leibrandt
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK.
authors: Guang-Zhong
authors: GZ
authors: Yang
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK.|Department of Surgery and Cancer, St. Mary's Hospital, Imperial College London, London, UK.
authors: Ara
authors: A
authors: Darzi
authors: The Hamlyn Centre, Institute of Global Health Innovation, St. Mary's Hospital, Imperial College London, London, UK.|Department of Surgery and Cancer, St. Mary's Hospital, Imperial College London, London, UK.
authors: Julian
authors: J
authors: Teare
mesh_terms: D019723:Endoscopes; D016099:Endoscopy, Gastrointestinal / Q000295:instrumentation* / Q000379:methods; D006801:Humans; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D012371:Robotics / Q000295:instrumentation*
keywords: Colorectal cancer; GI cancer; General endoscopy; Gut; Technical endoscopy; Therapeutic/Palliation endoscopy