Surgical Endoscopy

, Volume 31, Issue 1, pp 264–273 | Cite as

Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models

  • Alberto Arezzo
  • Yoav Mintz
  • Marco Ettore Allaix
  • Simone Arolfo
  • Marco Bonino
  • Giada Gerboni
  • Margherita Brancadoro
  • Matteo Cianchetti
  • Arianna Menciassi
  • Helge Wurdemann
  • Yohan Noh
  • Kaspar Althoefer
  • Jan Fras
  • Jakob Glowka
  • Zbigniew Nawrat
  • Gavin Cassidy
  • Rich Walker
  • Mario Morino
Article

Abstract

Background

Sponsored by the European Commission, the FP7 STIFF-FLOP project aimed at developing a STIFFness controllable Flexible and Learn-able manipulator for surgical operations, in order to overcome the current limitations of rigid-link robotic technology. Herein, we describe the first cadaveric series of total mesorectal excision (TME) using a soft and flexible robotic arm for optic vision in a cadaver model.

Methods

TME assisted by the STIFF-FLOP robotic optics was successfully performed in two embalmed male human cadavers. The soft and flexible optic prototype consisted of two modules, each measuring 60 mm in length and 14.3 mm in maximum outer diameter. The robot was attached to a rigid shaft connected to an anthropomorphic manipulator robot arm with six degrees of freedom. The controller device was equipped with two joysticks. The cadavers (BMI 25 and 28 kg/m2) were prepared according to the Thiel embalming method. The procedure was performed using three standard laparoscopic instruments for traction and dissection, with the aid of a 30° rigid optics in the rear for documentation.

Results

Following mobilization of the left colonic flexure and division of the inferior mesenteric vessels, TME was completed down to the pelvic floor. The STIFF-FLOP robotic optic arm seemed to acquire superior angles of vision of the surgical field in the pelvis, resulting in an intact mesorectum in both cases. Completion times of the procedures were 165 and 145 min, respectively. No intraoperative complications occurred. No technical failures were registered.

Conclusions

The STIFF-FLOP soft and flexible robotic optic arm proved effective in assisting a laparoscopic TME in human cadavers, with a superior field of vision compared to the standard laparoscopic vision, especially low in the pelvis. The introduction of soft and flexible robotic devices may aid in overcoming the technical challenges of difficult laparoscopic procedures based on standard rigid instruments.

Keywords

Soft Flexible Robotic surgery Total mesorectal excision 

Supplementary material

Video 1

The video shows the first cadaveric series of Total Mesorectal Excision (TME) using a soft and flexible robotic arm for optic vision in a cadaver model. (MP4 1035811 kb)

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Copyright information

© Springer Science+Business Media New York 2016

Authors and Affiliations

  • Alberto Arezzo
    • 1
  • Yoav Mintz
    • 2
  • Marco Ettore Allaix
    • 1
  • Simone Arolfo
    • 1
  • Marco Bonino
    • 1
  • Giada Gerboni
    • 3
  • Margherita Brancadoro
    • 3
  • Matteo Cianchetti
    • 3
  • Arianna Menciassi
    • 3
  • Helge Wurdemann
    • 4
  • Yohan Noh
    • 5
  • Kaspar Althoefer
    • 5
  • Jan Fras
    • 6
  • Jakob Glowka
    • 6
  • Zbigniew Nawrat
    • 7
  • Gavin Cassidy
    • 8
  • Rich Walker
    • 8
  • Mario Morino
    • 1
  1. 1.Department of Surgical SciencesUniversity of TorinoTurinItaly
  2. 2.Department of General Surgery, Hadassah Hebrew University Medical CenterJerusalemIsrael
  3. 3.The BioRobotics Institute, Scuola Superiore Sant’AnnaPontederaItaly
  4. 4.Department of Mechanical EngineeringUniversity of LondonLondonUK
  5. 5.Department of InformaticsKings College LondonLondonUK
  6. 6.Industrial Research Institute for Automation and Measurements PIAPWarsawPoland
  7. 7.Foundation of Cardiac Surgery DevelopmentZabrzePoland
  8. 8.Shadow Robot Company Ltd.LondonUK

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