Flexible and Deployable Colon Support Structure for Endoluminal Interventions

When performing endoluminal surgery inside the colon using a flexible endoscopic robot, there is problem of losing visualization and task space due to collapsing surrounding wall. This happens mainly because intra-abdominal pressure peristalsis colon. Although insufflation commonly used for expanding colon, it does not function when full-thickness incision created on To support ensure sufficient even with hole, we developed deployable structure (CSS) that can be seamlessly adapted existing procedures. While CSS designed small enough pass through an channel tortuous, becomes sturdy hold collapsing/squeezing after being deployed. Also, collapsible completion, retraction channel. Through ex-vivo in-vivo studies swine, have successfully demonstrated feasibility supporting wall during interventions CSS. We confirmed was easily deliverable large perform surgical tasks robotic arms.