Novel non-robotic, robotic technology for minimally invasive...
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Novel non-robotic, robotic
technology for minimally invasive
surgery
Lee L Swanstrom MD
Division of GI and Minimally Invasive Surgery, The Oregon ClinicClinical professor of Surgery, OHSU
Portland, ORDirector of Surgical Innovation and Technology Transfer
IHU-Strasbourg, University of Strasbourg, France
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Disclosures:
• Dr Swanstrom
– Is involved in developmental research on
the Carnegie-Melon snake robot
– Was involved in the early development of – Was involved in the early development of
the Computer Motion/Intuitive Medical
robotics platform
– Receives research support from Olympus
and Boston Scientific
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Robots have inherent promise for medical
use:
• Integration of Image guided surgery
• Automatization of routine tasks
• The “perfect assistant”
• Remote telementoring• Remote telementoring
• Improved hand instrumentation
– Laparoscopic
– NOTES
– (If they are inexpensive…)
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Robots are clever and cute
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Telemanipulation
2 million dollar laparoscopic suturing device?
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New technology and health care costs--the case of robot-
assisted surgery. Barbash, et al. N Engl J Med. 2010 Aug 19;363(8):701-4.
• “to date, there have been no large-scale
randomized trials of robot-assisted surgery, and
the limited evidence fails to show that the long-the limited evidence fails to show that the long-
term outcomes of robot assisted surgery are
superior to those of conventional procedures”
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Comparison among robotic, laparoscopic, and
open hysterectomy for endometrial cancer.
Barnett JC, Judd JP, Wu JM, Scales CD Jr, Myers ER,
Havrilesky LJ.
Obstet Gynecol. 2010 Sep;116(3):685-93.Obstet Gynecol. 2010 Sep;116(3):685-93.
• In the hospital perspective, plus robot costs
model, laparoscopy was least expensive ($6,581)
followed by open ($7,009) and robotic
hysterectomy ($8,770);
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Economics are a Problem
• Average loss to hospital per case = $2,800
New technology and health care costs--the case of New technology and health care costs--the case of
robot-assisted surgery.
Barbash GI, Glied SA. N Engl J Med. 2010 Aug 19;363(8):701-
4.
– No definite clinical advantage
– Added cost $2,300 - $3,100/case
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Maybe even selective use as a $2 million
laparoscopic needle holder…
• Very advanced cases scheduled for laparoscopic surgery
• All exploration, dissection, mobilization and simple
anastamosis performed laparoscopicallyanastamosis performed laparoscopically
• For very difficult portions of dissection or difficult
anastamosis – the robot is brought in, docked, that
portion done and the robot is taken out so the case can
be resumed laparoscopically
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Can we capture the advantages of current
robotics in a cost effective format?
• Using robotic features to enable suturing
• Enabling inadequate tool formats (flexible • Enabling inadequate tool formats (flexible
endoscopy)
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Cambridge
instruments$550
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ASGE/SAGES Working group on Natural
Orifice Translumenal Endoscopic Surgery
WHITE PAPER
• N natural• N natural
• O orifice
• T translumenal
• E endoscopic
• S surgery
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NOTES Platforms to Enhance Dexterity: Are
They Needed?
Yes!Yes!
• Feasibility
• Operative time
• Mental workload
• Ergonomics
• Teachability
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Current endoscopes are optimized for diagnostics:
• Scope instability – counter-forces
• Floppy instruments
• Limited visual orientation
• Small and few instrument channels (“one-handed” surgery)
• Lack of controlled insufflation • Lack of controlled insufflation
• Inadequate tissue approximators
• Poor resolution
NOSCAR meeting 2006
Floppy instrument grasping bowel.wmv
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Inherent problems with an endoscopic
paradigm
• Poor
ergonomics
• 2 assistants
• Un-shared • Un-shared
workload
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… Versus a ‘Laparoscopic Paradigm’
Laparoscopic paradigm-triangulation
-ergonomics
-separation optics
-shared workload
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400
450
averaged overall performance
Open surgery 13 sec ± 1
Laparoscopy 28 sec ± 3
Endoscopy 202 sec ± 82; P < 0.001
A comparison of the initial learning curves for open,
laparoscopic and endoscopic devices in complex bimanual
coordination
Georg O. Spaun, MD, Bin Zheng, MD, PhD, Daniel V. Martinec, BS,
Brittany N. Arnold, BS, Lee L. Swanström, MD, FACS
0
50
100
150
200
250
300
350
open laparoscopy endoscopy
time (sec
ond
s)
operating system
Novice
Intermediate
Expert
Endoscopy 202 sec ± 82; P < 0.001
P = 0.149
P = 0.434 for
accuracy.
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Robotics?
Potential benefit
• Miniaturization
• Increased strength
• Improved precision
Liabilities
• Size
• Optical quality
• Robustness• Improved precision
• Addition of computer
interface
– Preprograming
– Image synthesizing
– Positioning systems
Robustness
• Limited instrumentation
• Precision
• Cost?
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Endovia
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Neoguide
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Carnegie-Melon “Snake Robot”
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Mechanical systems
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A new Generation of flexible endoscope design
• High – resolution optics
• Table mounted (two
handed operation)
• Triangulating instruments
“Cobra” 2005
• Triangulating instruments
• Ergonomic user interface
• Low cost
…the laparoscopic paradigm
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2nd generation
Transport (USGI Medical)
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Large instrument channels
� 6 mm scope channel (5mm upper endoscope,
Olympus)
� 7 mm instrument channel
Flexibility
� 7 mm instrument channel
� Two 4.8 mm instrument channels
Controlled CO2 insufflation
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Currently used for Cholecystectomy
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3d Generation Endoscope Design
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EOS (USGI)
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DDES
Boston Scientific
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Olympus EndoSamurai
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Capability to sutureEndoSamurai
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Anubis Scope
Storz
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Anubiscope: Storz
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Pin transfer task (task 1)
A Multitasking Platform for NOTES:
A bench top comparison of a new device for flexible endoscopic
surgery and a standard dual channel endoscope
Spaun, Zheng, Swanström
Surgical Endoscopy 2009
EndoSAMURAI (304 ± 125 sec) vs. DCE (867 ± 312 sec)
P < 0.001
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3d gen endoscopes
Benefits
• Laparoscopic paradigm
– Table mounted
– Ergonomic
– Triangulation
Liabilities
• Size
• Optical quality
• Robustness– Triangulation
– Shared workload
– Separated optics
• Moderate pricing
Robustness
• Limited instrumentation
• Precision
• Cost?
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Laparoscopy
NOTES
Mini-scope
Diagnostic
NOTES
(eg POEM)Evolution of NOTES
Size?
Therapeutic
endoscopy
Mega-scope
Surgical resection/
reconstruction
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Others
• Transenterix
• Others?
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Conclusions:
• A new generation of flexible endoscopes may be (will
be) needed to safely and effectively perform
advanced endolumenal procedures and NOTES
• Flexible endoscopic instruments need to replicate the • Flexible endoscopic instruments need to replicate the
abilities of laparoscopic tools
• A shift from the endoscopic to a laparoscopic
paradigm will be necessary
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Conclusion
• Robotics will undoubtedly play a role in surgical instrument design from now on – particularly in technology leveraged approaches like NOTES and single port
• Currently cost (development and manufacturing) is a major impediment to new robotic instrumentationmajor impediment to new robotic instrumentation
• Mechanical “robotic” systems may represent an intermediate step in instrument evolution
• Miniaturized “robotic enabled” hand instruments may be the future of laparoscopic tools
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Thank you