Teleoperated tubular continuum robots for transoral surgery

feasibility in a porcine larynx model

verfasst von

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Institut für Kontinuumsmechanik

Externe Organisation(en)

Universitätsklinikum Ulm (UKU)

Typ

Artikel

Journal

International Journal of Medical Robotics and Computer Assisted Surgery

Band

14

ISSN

1478-5951

Publikationsdatum

10.2018

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Chirurgie, Biophysik, Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.1002/rcs.1928 (Zugang: Geschlossen)