A Telerobotic System for Transnasal Surgery

Abstract

Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these robots to a variety of real-world clinical scenarios. Endonasal skull base surgery is one such application, where their small diameter and tentacle like dexterity are particularly advantageous. In this paper we provide the medical motivation for an endonasal surgical robot featuring concentric tube manipulators, and describe our model-based design and teleoperation methods, as well as a complete system incorporating image-guidance. Experimental demonstrations using a laparoscopic training task, a cadaver reachability study, and a phantom tumor resection experiment illustrate that both novice and expert users can effectively teleoperate the system, and that skull base surgeons can use the robot to achieve their objectives in a realistic surgical scenario.

On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots

“…a haptic device for user input and user feedback. The master node holds the robot state (T ), desired pose (x B ), and all control parameters which are broadcasted (500 Hz) to all optimization nodes, which's task is to minimize the cost-function (8). Each IK-node holds one communication thread receiving and holding all variable required for the optimization.…”

“…Each IK-node holds one communication thread receiving and holding all variable required for the optimization. Multiple solver threads, obtain these variables asynchronously to solve the IK-problem independently by minimization of (8). The Jacobian solver employs a threadpool of 2ˆn worker-threads for the calculation of J 6ˆn , whereas each column of the J is calculated by 2 threads according to (2).…”

“…Concentric tube robots are continuum robots that exhibit shape control through the relative rotation and telescopic translation of pre-curved super-elastic tubes [5], [6]. With their dimensions being comparable to catheters, concentric tube robots have been proposed for several clinically-critical interventions that require navigation through the vasculature [7], the nasal cavities [8], and the urinary tracts [9]. Tools are delivered to the pathology location through the hollow lumen of the tubes.…”

Implicit active constraints for safe and effective guidance of unstable concentric tube robots

“…Their size is comparable to that of catheters, but are able to apply distant forces and exhibit shape control. Therefore, they are used in similar clinically-critical interventions, such as navigating the vasculature to reach the heart [3], and snaking through the nasal cavity [4], the unary tracts [5], or the bronchia [6].…”

Eye-in-Hand Visual Servoing of Concentric Tube Robots

“…Some tasks require visual feedback to perform an automatic repetitive biopsy to follow-up cell evolution [12], achieve path following in the image [13], and keep a tool in the field-of-view [10], [14] during interventions. In addition, the development of surgical robotic systems with two CR is increasing [15], [16]. In this case, the first CR brings a tool and the second one embeds the visualization system with a diameter smaller than 2 mm, e.g., miniaturized camera, OCT probe, or probe-based confocal laser endomicroscopy.…”