A novel R-NOTES system
"Our system consists of an in-vivo robotic manipulator (MicroBot) and a 7-DoF serial robot (KUKA LWR; KUKA Robotics, Augsburg, Germany) used for gross positioning. A software application implemented on a standalone PC, called the master control station (MCS), coordinates communication between the gross positioning module and in-vivo robot and maps input device signals to joint actuation, as well as providing system status and monitoring overhead. In the section below, we begin with a brief overview of the systems integration followed by a detailed description of each system component. Integration overview A proposed solution for an integrated and teleoperated R-NOTES system is presented in Figure 2. This system consists of two robotic components: The ex-vivo gross positioning module and an in-vivo fine positioning module. For purposes of safety, reliability and modularity, we developed a single software control framework to control both gross positioning and in-vivo robotic modules. The master control station (MCS) communicates with the input devices (HCI devices: human computer interface). The operator controls all of the system operations through the HCI devices."
Source: Robotic natural orifice transluminal endoscopic surgery (R-NOTES) ; Minim Invasive Ther Allied Technol. 2014 Dec 25:1-6.