Teleoperated tubular continuum robots for transoral surgery – feasibility in a porcine larynx model

authored by: D. T. Friedrich, V. Modes, T. K. Hoffmann, J. Greve, P. J. Schuler, J. Burgner-Kahrs
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.
Organisation(s): Institute of Mechatronic Systems
Institute of Continuum Mechanics
External Organisation(s): University Hospital Ulm (UKU)
Type: Article
Journal: International Journal of Medical Robotics and Computer Assisted Surgery
Volume: 14
ISSN: 1478-5951
Publication date: 03.09.2018
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Surgery, Biophysics, Computer Science Applications
Electronic version(s): https://doi.org/10.1002/rcs.1928 (Access: Closed)
: Details in the research portal "Research@Leibniz University"

BibTeX

@article{47956c03e7964e4da62c310befdaee51,
title = "Teleoperated tubular continuum robots for transoral surgery – feasibility in a porcine larynx model",
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",
author = "Friedrich, {D. T.} and V. Modes and Hoffmann, {T. K.} and J. Greve and Schuler, {P. J.} and J. Burgner-Kahrs",
note = "Publisher Copyright:{\textcopyright} 2018 John Wiley & Sons, Ltd.",
year = "2018",
month = sep,
day = "3",
doi = "10.1002/rcs.1928",
language = "English",
volume = "14",
journal = "International Journal of Medical Robotics and Computer Assisted Surgery",
issn = "1478-5951",
publisher = "John Wiley and Sons Ltd",
number = "5",
}