Design and Manipulation of a Suction-Based Micro Robot for Moving in the Abdominal Cavity

In NOTES (Natural Orifice Translumenal Endoscopic Surgery), the path from the surgeon's fingertip to targeted sites is much longer than that of usual laparoscopic operations. Therefore, manipulation of forceps in NOTES is much more difficult, which increases the burden on surgeons. The aim of this study is to develop a micro mobile robot that can move in the abdominal cavity to guide flexible forceps and/or a camera to targeted sites. In order to achieve stable movements and surgery support actions, we proposed using the peritoneum (abdominal wall) as the surface for moving in the abdominal cavity. Moreover, we devised a robot system that relies on two suckers to attach to the peritoneum and a cable-driven mechanism to realize the relative movement of the two suckers, by which 3-d.o.f. movements could be realized. After examining adhesion of the suckers employed, we built a prototype robot. We verified that, hanging upside-down on the surface of a vinyl surface, the robot could move in different directions. Moreover, the load-bearing ability of the robot was also confirmed. From the results of the experiments, we showed the potential of using the robot as a surgery support for NOTES.