tues pm 4 marohn - medical automation€¦ · • 19 th /20 th centuries ... jagannath sb, giday...
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Medical Automation 2007NCC Lansdowne VA28-30 October 2007
NOTES 2007Innovative intersection or deadend?
Michael R. MarohnAssociate Professor / Director of Minimally Invasive Surgery
Johns Hopkins University School of Medicine
and
Whiting School of Engineering
ConsultantDefense Advanced Research Projects Agency (DARPA)
and
Telemedicine & Advanced Technologies Research Center (TATRC)
“The Future is not what it used to be”
….Yogi Berra
Disruptive Visions
Bio-Information Age
• Digital age (i.e.: computer based) harnessing of biologic information– Systems biology
• Interventionalist view of emerging technologies– Surgical Robotics– Integrating Imaging and Intervention– Informatics– NOTES
Perspective
• What is NOTES?– Next ‘Big Thing?’
• Story line about innovation, or not…• Lessons learned, partially from
NOSCAR– Interdisciplinary to transdisciplinary
• Asking the right questions• Roadmap for future innovation
Overview: 4 topics
• Brief NOTES history– Lessons from Minimally Invasive Surgery
• Current status of NOTES• Future challenges?
– NOTES - Current technology limitations
• Future transdisciplinary roadmap– Intersection of endoscopy, laparoscopy,
and robotics• Challenge and opportunity
Revolutions in Surgery
• Anesthesia• Asepsis• Antibiotics• Surgical pathology
–Golden Age of Surgery• 19th/20th centuries
‘Nintendo’ Surgery Revolution
• 1987 – 1st Lap chole - Mouret, Lyons, France
• 1990 – Lap chole expansion in USA• 1992 – Lap chole = ‘standard of care’• 1992 – Lap surgeries for adrenal, anti-
reflux, colon, kidney, thoracic, trauma, …• 2007 – Minimally Invasive Surgery
impacts all surgical specialties
Current surgery technology
• 21st century surgery on 15 th century platform with 19 th century instruments
• Operating rooms – isolated worlds run by feudal lords with patients strapped to slabs
• Instruments – primitive, rigid, inflexible, ergonomically awkward, limited tactile sense
• Visualization – 2-dimensional vision of 3-dimensional space
Laparoscopic instruments:
Modified ‘chop sticks’ with limited degrees of motion, precision, tactile feedback, and poor ergonomics
Laparoscopic visualization
• Two-dimensional vision of three-dimensional space
Laparoscopic Skill levels for most surgeons?
• General surgery – basic skills by all, but 90% of advanced cases are performed by <20%
• Urology – complex cases, yet <2% with advanced skills
• Other surgical specialties?• Future? Wizards, or better
enabling technology…
Next surgery revolution?
• Laparoscopic (MIS) / ‘Nintendo’ Surgery– Technology revolution?
• 3D to 2D vision• ‘Chop sticks’ as instruments
– Transition technology to the 21st century• Industrial revolution to Information Age?
– Is Surgical Robotics the next revolution?(computer assisted surgery)
Design challenges:
What do we need?
‘Smart’Technology
Solutions?
• High tech:-Miniaturization-Articulating hand held instruments-Robotics-3D vision
USUHS/ Surgery
Rocket science at work…
Surgical Robotics: Instruments
Hand instruments that mimic hands, not ‘chop sticks’
–Allows surgeon full 6 degrees of freedom
–Mimics human wrist/ ‘open’surgery
Two side-by-sidecameras create stereoscopicthree-dimensionalimage
True binocular3D vision
Surgical Robotics: Visualization
Still a prototype…
• daVinci S, introduced February 2006
Limitations•No haptics•Multi-quadrant surgery
Improvements•Fast foolproof setup•Rapid instrument exchange •Multi-quadrant access •Interactive video displays
Enabling Milestones
• 1946 Eniac• 1947 Transistor• 1959 Integrated circuit• 1961 Unimate• 1971 Microprocessor• 1994 Aesop• 1996 Sojourner to Mars• 1999 DaVinci & Zeus
March of the Microprocessor CHIP PUBLIC
DEBUT
INITIAL
COST
NUMBER OF
TRANSISTORS
INITIAL
MIPS*
4004 11/71 $ 200 2,300 0.06 8008 4/72 $ 300 3,500 0.06 8080 4/74 $ 300 6,000 0.60 8086 6/78 $ 360 29,000 0.30 8088 6/79 $ 360 29,000 0.30 ¡286 2/82 $ 360 134,000 0.90 ¡386 10/85 $ 299 275,000 5.00 ¡486 4/89 $ 950 1.2 MILLION 20.00 PENTIUM 3/93 $ 878 3.1 MILLION 100.00 PENTIUM PRO 3/95 $ 974 5.5 MILLION 300.00 PROJECTIONSPROJECTIONSPROJECTIONSPROJECTIONS 786 1997 $ 1,000 8 MILLION 500.00 886 2000 $ 1,000 15 MILLION 1,000.00 1286 2011 N/A 1 BILLION 100,000.00 * Millions of instructions per second DATA: INTEL CORP., DATAQUEST INC.
Moore’s law, amazingly, continues… predicts doubling of computer power every 6 months
How this relates to NOTES
Hopkins MedicineMagazine,
Spring/Summer 2007
NOTES update 2007
• What is NOTES?– Natural Orifice Trans-Lumenal
Endoscopic Surgery (NOTES) best describes this emerging area
– Extension of minimally invasive surgery (MIS) from laparoscopy to ‘incisionless’ intervention…
Evolution of Abdominal Evolution of Abdominal Evolution of Abdominal Evolution of Abdominal
Surgery?Surgery?Surgery?Surgery?
NOTES CholecystectomyNOTES Cholecystectomy
Endoscopy evolution
Endoscopy evolution
• 1957: Basil Hirschowitz invented fiberoptics specifically for the endoscope- resulting in the beginning of flexible endoscopy
• 2007: 50th anniversary of the flexible endoscope unimpeded by significant progress
Brief NOTES history
• 1996 Apollo group (Tony Kalloo et al)– Group of gastroenterologists exploring
NOTES possibilities
– Funding: Olympus– 1996-2005 progress: Limited, recognition
of need for collaboration with surgeons
Brief NOTES history
• 2002 Reddy and Rau, first clinical NOTES application: transgastric appendectomy – Team: Surgeon and Gastroenterologist
Transgastric appendectomy
Courtesy of N Reddy, Hyperbad India 2005
Reddy & Rau have performed20 trans-gastric append-ectomies in 5 years
So What’s Next ?
Collaborative initiative
• Surgeons* and Gastroenterologists– 2004-2005: ASGE (Apollo group) and
SAGES leadership discussed potential for NOTES and need for collaboration
– 7/22-23/2005: ASGE/ SAGES retreat in New York, including 14 surgeons & gastroenterologists to define a ‘roadmap’for NOTES
*surgical endoscopy heritage: EGD, ERCP, PEG…
NOSCAR July 2005
NOSCAR
• NOSCAR established: Natural Orifice Surgery Consortium for Assessment and Research (NOSCAR)
• ‘White paper’ published jointly by ASGE & SAGES 2/2006 outlining definitions, fundamental challenges, and future directions Rattner D, Kalloo A, et al. Surg Endosc 2006 Feb 20(2):329-333
‘White Paper’: Challenges to safe introduction of NOTES
1. Access to peritoneal cavity
2. Gastric (intestinal) closure3. Prevention of infection4. Development of suturing
& anastomotic devices5. Spatial orientation6. Training
7. Development of multi-tasking platform to accomplish procedures
8. Management of intraperitoneal complications
9. Physiologic untoward events
10. Compression syndromes
Other issues?
2/2006: NOTES roadmap published concurrently by ASGE and SAGES
Scottsdale NOTES conference - March 2006
• Working groups focused on ‘challenge’ topicsidentified in NOSCAR ‘white paper’
• Collaborative vision proposal to ‘herd the cats’…
• Unlike laparoscopy, where cholecystectomy rapidly expanded MIS, there is NO identified NOTES target procedure
• Still, strong interest in potential of NOTES to enable the future - key questions remain
Boston NOTES conferenceJuly 2007
• Working groups focused on ‘challenge’ topicsidentified in NOSCAR ‘white paper’
• Collaborative vision proposal to ‘herd the cats’…
• Unlike laparoscopy, where cholecystectomy rapidly expanded MIS, there is NO identified NOTES target procedure
• Still, strong interest in potential of NOTES to enable the future - key questions remain
NOSCAR, a Joint Partnership of ASGE and SAGES, Rece ives $1 Million for Ethicon Endo-Surgery "NOTES" ResearchResearch Proposals are Due December 1, 2006In an effort to encourage research in the innovative field of Natural Orifice Translumenal Endoscopic Surgery (NOTES), Ethicon Endo-Surgery, Inc. has announced a $1,000,000 pledge in research funds to the Natural Orifice Surgery Consortium for Assessment and Research (NOSCAR), a joint effort of The American Society for Gastrointestinal Endoscopy (ASGE) and The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES).
For more information about NOTES, the NOSCAR partne rship, or to access the Request for Proposals, visi t www.noscar.org . Proposals are due electronically by December 1, 2006.
About NOSCARNatural Orifice Translumenal Endoscopic Surgery (NOTES) might represent the next major advancement in minimally invasive therapy. To address this emerging technology, a working group consisting of expert laparoscopic surgeons from SAGES and a group of expert interventional endoscopists representing ASGE have joined together as the Natural Orifice Surgery Consortium for Assessment and Research (NOSCAR) Working Group on NOTES. For more information, visit www.noscar.org.
In past 12 months …
•80 grant submissions- 13 grants awarded December 31, 2006www.noscar.com•January 2007: Additional $500K for NOSCAR researchfrom Olympus-awarded in July 2007•October 2007: Additional $250K from Storz for NOSCAR
In past 12 months …
• Total of $2.25 million committed from vendors for NOTES research– Good news
• Restricted to basic science, not technology development
• Collaborative GI & Surgery teams
– Bad news• Restricted to basic science, not technology
development• Collaborative GI & Surgery only teams- no
engineers!
Current research
• Basic science? SAGES, DDW, EAES…• Physiology of NOTES
– Intraabdominal hypertension• Meireles O, Kantsevoy SV, Kalloo AN, Jagannath SB, Giday SA,
Magno P, Shih SP, Hanly EJ, Ko CW, Beitler DM, Marohn MR. “Comparison of intraabdominal pressures using the gastroscopeand laparoscope for transgastric surgery.” Surgical Endoscopy 2007
– Infection issues• Giday SA, Kantsevoy SV, Kalloo AN, Jaganath SB, Magno P,
Marohn MR. “Infection prevention in NOTES: Randomized controlled trial in aporcine model.” 2nd NOTES Conference 2007
– Immunology of NOTES– Spatial (dis-)orientation
Current applications
• Clinical applications? SAGES, DDW, EAES…– Animal
• Transgastric cholecystectomy, oophorectomy, splenectomy, BTL, GJ (bariatric implications), adrenalectomy…
• Transrectal cholecystectomy
– Human• 1st Transgastric appendectomy in India, 2002, now 20
cases• Transvaginal cholecystectomy (hybrid), New York,
Marc Bressler, 4/2007
Current applications
• Clinical applications? SAGES, DDW, EAES…– Animal
• Transgastric splenectomy, BTL, GJ (bariatric implications), adrenalectomy…
• Transrectal cholecystectomy– Human
• 1st Transgastric appendectomy in India, 2002, now 20 cases
• Transvaginal cholecystectomy (hybrid), New York, Marc Bressler, 4/2007
• 1st Transgastric cholecystectomy (NOTES), Oregon, Lee Swanstrom, 5/2007
Is NOTES the next ‘big thing’?
• Natural• Orifice• Translumenal• Endoscopic• Surgery
Lessons learned from MIS
• Laparoscopic (MIS) / ‘Nintendo’ Surgery– Technology revolution? Probably not…
• 3D to 2D vision• ‘Chop sticks’ as instruments
– Transition technology to the 21st century• Industrial revolution to Information Age?
– What about surgical robotics?(computer assisted surgery)
Future challenges• NOTES is not just about the size of the incision… or
having NOSCAR
• NOTES represents the intersection of laparoscopy and endoscopy
– Laparoscopy at 20 years still using chopsticks and 2D vision
– Endoscopy at 50 years still using the original endoscope
• Even wizards are quickly stymied in the NOTES environment
NOTES needs
Development of modified accessories and endoscopes- for endolumenal and
translumenal intervention
Courtesy of N Reddy, Hyperbad India 20005
Trans Oral Intra-peritoneal Surgery –Future
Courtesy of N Reddy, Hyperbad India 20005
Suture Devices
Eagle ClawApollo ProjectOlympus, Tokyo.
Courtesy of N Reddy, Hyperbad India 20005
Modified Endoscope for Transgastric Surgery
Need fortriangulation
EndoVia- Robotic EMR
Development and testing of a new platform for retroflexed flexible transgastric surgery: cholecystectomy, fundoplication, and
diaphragmatic repair
P. Swain; C. Rothe; M. Bergstrom; P. Park; L. SwanstromUSGI San Clemente, California, Portland, St Mary’s Hospital
and Imperial College, London, Sahlgrenska University Hospital-Östra, Gothenburg Sweden
Courtesy Paul Swain
Transport (TP): platform for translumenal surgery
The USGI MedicalThe USGI Medical®® TransPortTransPort™™
• TP utilizes Shapelock® technology, allowing device to be locked into desired configurations
• Device is introduced in a flexible state, and becomes rigidwhen the physician squeezes the locking handle
Features
The device has 4 channels for instruments of different sizes, one of which will usually be used with a small diameter (5.2 mm) gastroscope
The distal section of the TransPort can be steered freely, allowing the user to see and deliver therapy with efficiency and precision
Buckling and retraction
Forwards force causes flexible instruments to buckle and push gastroscope away from target tissue
Shape-locked transport allow effective retraction of the cystic duct and artery
Retraction forces with a standard flexible scope would result in scope being pulled toward wall
You cannot push rope…
“Reliable gastric closure after NOTES using a novel per-oral flexible stapling device.” Society of American Gastrointestinal and Endoscopic
Surgeons (SAGES) Annual Meeting, Las Vegas, NV, 18-22 April 2007. Meireles O, Kantsevoy SV, Assumpcao LR, Hanly EJ,
Kalloo AN, Marohn MR.
PowerMedical device
Magnetically Anchored Steerable Instruments
• Cadeddu, et al. J of Urology 2002;167:4.– Multiple instruments deployed via a
single trocar– Coupling using permanent magnets– Porcine nephrectomy model– Patent filed
Courtesy Dan Scott
Gallbladder Retractor
• Fundus retraction
• Fixation
– Sutured (transabdominal)
– Clips (transgastric)
Enabling technologies for 21st
century surgery
• Endolumenal/ endovascular access• Digital technology
– Computer assisted surgery & imaging– Machine vision– Image integration with interventional
platforms• Novel energy delivery systems• Molecular level sensors• ‘Smart instruments’
NOTES vision
• 21st century emerging technologies and intersecting disciplines (laparoscopy, endoscopy, and robotics) offer a fertile environment for interventional breakthroughs– Endolumenal– Translumenal– Laparoscopic– Open
Evolving 21st century interventions
Roboticsandadvanced imaging
and guidance
Interventionalendoscopy
Laparoscopicsurgery
NOTES
Recognizing enabling elements
• Central role of the computer as the core enabler of the digital age
• Digital potential…– Human genome– Imaging
– Informatics– Intervention?– Integration?
N. Simaan, R. Taylor, A. Kapoor, P. Kazanzides, P. Flint, MD
Scalable robot for dexterous surgery in small spaces
Remember the 5.2 mm diameterTransport device working lumen?
Snake robot is 4.2 mm diameter
Figure 3. Micro-robotic endoscopy. Physician controlling micro-robot (which has been inserted into the rectum) from endoscope workstation
Figure 2. Translational endoscopy workstation. Physician advancing insertion tube of colonoscope by hand while controlling the tip and valves from endoscopic workstation.
Figure 1. Conventional colonoscopy
Satava RM Future of endoscopy. GI Clin NA, Oct, 1983
Future?Remote GuidedSmartPillcams?
Future?WorkstationFor Snake
Robot?
3D Reconstructions
Virtual surgery?
• 3D image reconstruction• 3D instrument positioning• Simulate surgery before operation• Collaborate, plan ‘best’ surgery• Direct robot to perform ‘best’
surgery
Medical automation?
The Touch Lab, MITMovie: Alien
Smart Endoscope• White paper vision – it is time for a new
endoscope, or vision of GI imaging & intervening– Endolumenal, translumenal, …
• Portfolios of projects– Pill cam potential/ scenario– Computer based work station– Robotic capability/ snake example– Image integration, enhancement– Sensing capability– Confocal microscopy– Intelligent endoscopy…
• Collaborative teams, resources, funding
Transdisciplinary InitiativesDARPA BioFocus 2000
NASA BioAstronautics/Astrobiology
NSBRI Human Systems Integration
NCI Unconventional Projects
NSF National Nanotechnology Initiative
NIH Roadmap, U-54, Quantum…
DoE Virtual Human Project
Consortium CIMITJohns Hopkins’ I4M
Trans-disciplinary initiatives
7 July, 1999DARPA
Programs require . . . . . . inter-disciplinary research teams
Programs are too complex for single support or institution
. . . to be performed on thousands of dollars
Of the previous programs most at >$250 million . . .
Even when DoD funded . . .
. . . they are ideally Dual Use
Success (figure of merit) is in milestones/deliverables . . . . . . not only publications
Importance of the “culture of collaboration”Rand
True revolution
• Bioinformatics/ digital age: integrating informatics, imaging, and intervention
• Evolution from surgery, GI, radiology to transdisciplinary intervention
• ORF to IRF• It isn’t about NOSCAR- NOTES chole v. lap
chole…• Remember the 50 year old endoscope and
20 years of ‘high tech’ laparoscopy• We need to evolve…
Do Robots Dream ?
“Chance favors the prepared mind.”
- Louis Pasteur