Flexible Robot for Laser Phonomicrosurgery

Kundrat, Dennis; Schoob, Andreas; Kahrs, Lüder A.; Ortmaier, Tobias

doi:10.1007/978-3-662-44506-8_22

Cited by 9 publications

(7 citation statements)

References 6 publications

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“…Secondly, the steering system is also tested during human cadaver trials by an ENT (Ear, Nose, and Throat) surgeon. Here, SQUIPABOT is inserted in the endoscope developed by our partners at LUH (Leibniz Universität Hannover, DE) [25] and connected to the Surgeon-Robot Interface developed by our other partner IIT (Istituto Italiano di Tecnologia, Genova, IT) [4]. Therefore, instead of using the high-speed vision system, we use two (red-green-blue) RGB MISUMI cameras R (from Misumi Electronics Corp.) characterized with a resolution of 720×576 pixels and a frame rate of 25 fps.…”

Section: Resultsmentioning

confidence: 99%

“…12) insertion into the larynx, waterproofing, solidity (e.g., micromechatronics components) and the functioning of the laser steering device as well as the vision-based controller (including the image processing algorithms). The endoscopy system [25] containing the microrobot was inserted into the larynx until the distal part (i.e., the microrobot) is in front of the vocal cords i.e., 20-25mm. Using the smart tablet [4], the surgeon defines a curve on the vocal folds on which the laser should pass.…”

Section: Preclinical Validation: Human Cadaver Trialsmentioning

confidence: 99%

See 1 more Smart Citation

Endoscopic Laser Surgery: Design, Modeling, and Control

Renevier¹,

Tamadazte²,

Rabenorosoa³

et al. 2017

IEEE/ASME Trans. Mechatron.

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Public Domain

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Section: Resultsmentioning

confidence: 99%

Section: Preclinical Validation: Human Cadaver Trialsmentioning

confidence: 99%

Endoscopic Laser Surgery: Design, Modeling, and Control

Renevier¹,

Tamadazte²,

Rabenorosoa³

et al. 2017

IEEE/ASME Trans. Mechatron.

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show abstract

“…In µRALP, the development of such endoscopic system was an iterative process strongly influenced by results of adjunct research and cadaver trials. The final device consisted of the following components: a distal tip (housing a stereo imaging system, illumination fibers, the Squipabot, and laser focusing optics), one bendable and extendable continuum segment, one solely bendable continuum segment, a rigid shaft and an actuation unit ( Kundrat et al, 2015 ).…”

Section: Micro-technologies and Systems For Robot-assisted Endoscopic Laser Microsurgerymentioning

confidence: 99%

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

et al. 2021

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Laser microsurgery is the current gold standard surgical technique for the treatment of selected diseases in delicate organs such as the larynx. However, the operations require large surgical expertise and dexterity, and face significant limitations imposed by available technology, such as the requirement for direct line of sight to the surgical field, restricted access, and direct manual control of the surgical instruments. To change this status quo, the European project μRALP pioneered research towards a complete redesign of current laser microsurgery systems, focusing on the development of robotic micro-technologies to enable endoscopic operations. This has fostered awareness and interest in this field, which presents a unique set of needs, requirements and constraints, leading to research and technological developments beyond μRALP and its research consortium. This paper reviews the achievements and key contributions of such research, providing an overview of the current state of the art in robot-assisted endoscopic laser microsurgery. The primary target application considered is phonomicrosurgery, which is a representative use case involving highly challenging microsurgical techniques for the treatment of glottic diseases. The paper starts by presenting the motivations and rationale for endoscopic laser microsurgery, which leads to the introduction of robotics as an enabling technology for improved surgical field accessibility, visualization and management. Then, research goals, achievements, and current state of different technologies that can build-up to an effective robotic system for endoscopic laser microsurgery are presented. This includes research in micro-robotic laser steering, flexible robotic endoscopes, augmented imaging, assistive surgeon-robot interfaces, and cognitive surgical systems. Innovations in each of these areas are shown to provide sizable progress towards more precise, safer and higher quality endoscopic laser microsurgeries. Yet, major impact is really expected from the full integration of such individual contributions into a complete clinical surgical robotic system, as illustrated in the end of this paper with a description of preliminary cadaver trials conducted with the integrated μRALP system. Overall, the contribution of this paper lays in outlining the current state of the art and open challenges in the area of robot-assisted endoscopic laser microsurgery, which has important clinical applications even beyond laryngology.

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“…Those problems have motivated endoscopic laser delivery. For example, related work comprises piezo-electric micro-scanners 22 embedded to the tip of an endoscope, 16 magnetic fibre scanners, 1 or Risley-prisms. 21 Nontheless, workspaces are still limited due to actuation principles, focused radiation is disregarded, field of views are restricted, or manipulation accuracies are insufficient for soft tissue surgery.…”

Section: Introductionmentioning

confidence: 99%