Endoscopy 2017; 49(S 01): E27-E28
DOI: 10.1055/s-0042-121486
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© Georg Thieme Verlag KG Stuttgart · New York

Feasibility of performing esophageal endoscopic submucosal dissection using master and slave transluminal endoscopic robot

Nobuyoshi Takeshita
1   Department of Medicine, National University of Singapore, Singapore
,
Khek Yu Ho
2   Yong Loo Lin School of Medicine, National University of Singapore, Singapore
,
Soo Jay Phee
3   School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
,
Jennie Wong
1   Department of Medicine, National University of Singapore, Singapore
,
Philip Wai Yan Chiu
4   Department of Surgery, The Chinese University of Hong Kong, Hong Kong
› Author Affiliations
Further Information

Publication History

Publication Date:
09 January 2017 (online)

The feasibility of endoscopic submucosal dissection (ESD) using the master and slave transluminal endoscopic robot (MASTER) has been shown in our previous studies [1] [2] [3]. Compared with gastric ESD, esophageal ESD remains challenging because of technical difficulties and risks [4] [5]. The aim of this study was to evaluate the feasibility of using MASTER to perform esophageal ESD.

The new version of MASTER was used for esophageal ESD on one pig. The MASTER was redesigned to facilitate performance of ESD within a narrow working space. The main outcomes were: operating time, completeness of resection, and adverse events. The secondary outcomes included: clearance of operative field and limitation of robot arm manipulation in the narrow working space, assessed by counting the number of episodes of blind cutting. For the purpose of comparison with esophageal ESD, one gastric and one colonic ESD were performed by the same operator.

All procedures were successfully completed ([Table 1]; [Figs. 1 – 3]; [Video 1]). It took 15, 63, and 45 minutes to complete the esophageal, gastric, and colonic ESDs, respectively. All lesions were excised en bloc; the specimen sizes were: 20 × 20, 50 × 45, and 35 × 35 mm, respectively. The dissection speeds were: 20.9, 28.0, and 21.4 mm2/min, respectively. There were no adverse events. The number of episodes of blind cutting were: 2, 6, and 6 (0.13, 0.10, and 0.13/min).

Table 1

Outcomes of endoscopic submucosal dissection procedures using the MASTER.

Procedure 1

Procedure 2

Procedure 3

Organ

Esophagus

Stomach

Colon

Location

Middle thoracic

Middle greater curvature

Sigmoid

Completion

Complete

Complete

Complete

Operation time, minutes

15

63

45

Size of specimen, mm

20 × 20

50 × 45

35 × 35

Dissection speed, mm2/min

20.9

28

21.4

En bloc/piecemeal

En bloc

En bloc

En bloc

Uncontrolled bleeding

No

No

No

Perforation

No

No

No

Episodes of blind cutting

 2

 6

 6

Zoom Image
Fig. 1 Esophageal endoscopic submucosal dissection (ESD) being performed using the newly developed MASTER endoscopic platform.
Zoom Image
Fig. 2 Endoscopic view of the post-endoscopic submucosal dissection (ESD) ulcer.
Zoom Image
Fig. 3 The resected specimen, which measured 20 × 20 mm.
Video 1: Esophageal endoscopic submucosal dissection (ESD) being performed. After marking and injections had been performed, the proximal mucosal incision was created. The mucosa was lifted by the grasper and the submucosa was dissected in parallel with circumferential mucosal cutting. The distal mucosal incision was finally completed and the specimen was resected.

Quality:

In contrast to gastric and colonic ESD, the traction of the grasper during esophageal ESD tended to align with the long axis because of the narrow working space. There was no difference comparing esophageal against gastric and colonic ESD in terms of the speed of dissection, the rate of complete resection, the occurrence of adverse events, and the number of episodes of blind cutting.

In conclusion, performing esophageal ESD using the MASTER was feasible with a certain degree of adjustment for the narrow working space.

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  • References

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