Details
| Original language | English |
|---|---|
| Article number | e1928 |
| Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
| Volume | 14 |
| Issue number | 5 |
| Publication status | Published - 3 Sept 2018 |
Abstract
Background: Evidence suggests that transoral robot-assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study. Methods: A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans. Results: Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed. Conclusions: Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre-market prototype for further investigation in a human model.
Keywords
- larynx, RAS, robotic, TORS, tubular continuum robot
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Biochemistry, Genetics and Molecular Biology(all)
- Biophysics
- Computer Science(all)
- Computer Science Applications
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In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 14, No. 5, e1928, 03.09.2018.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Teleoperated tubular continuum robots for transoral surgery – feasibility in a porcine larynx model
AU - Friedrich, D. T.
AU - Modes, V.
AU - Hoffmann, T. K.
AU - Greve, J.
AU - Schuler, P. J.
AU - Burgner-Kahrs, J.
N1 - Publisher Copyright:© 2018 John Wiley & Sons, Ltd.
PY - 2018/9/3
Y1 - 2018/9/3
N2 - Background: Evidence suggests that transoral robot-assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study. Methods: A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans. Results: Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed. Conclusions: Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre-market prototype for further investigation in a human model.
AB - Background: Evidence suggests that transoral robot-assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study. Methods: A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans. Results: Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed. Conclusions: Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre-market prototype for further investigation in a human model.
KW - larynx
KW - RAS
KW - robotic
KW - TORS
KW - tubular continuum robot
UR - http://www.scopus.com/inward/record.url?scp=85052739598&partnerID=8YFLogxK
U2 - 10.1002/rcs.1928
DO - 10.1002/rcs.1928
M3 - Article
C2 - 29923349
AN - SCOPUS:85052739598
VL - 14
JO - International Journal of Medical Robotics and Computer Assisted Surgery
JF - International Journal of Medical Robotics and Computer Assisted Surgery
SN - 1478-5951
IS - 5
M1 - e1928
ER -