Image-Guided Dual Master–Slave Robotic System for Maxillary Sinus Surgery

Yoon, Hyung Joon; Jeong, Jin Hyeok; Yi, Byung Ju

doi:10.1109/tro.2018.2830334

Cited by 46 publications

(34 citation statements)

References 26 publications

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“…In a single-backbone structure, a single element supports the entire flexible segment. This element can be made of shape memory alloys [17], springs [18], flexible tubes [19], or variable stiffness mechanisms [20] [21]. Multi-backbone structures are based on multiple elements, for example parallel rods, that equally contribute to the motion of the flexible tip [22].…”

Section: Plos Onementioning

confidence: 99%

Exploring non-assembly 3D printing for novel compliant surgical devices

et al. 2020

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In minimally invasive surgery, maneuverability is usually limited and a large number of degrees of freedom (DOF) is highly demanded. However, increasing the DOF usually means increasing the complexity of the surgical instrument leading to long fabrication and assembly times. In this work, we propose the first fully 3D printed handheld, multi-steerable device. The proposed device is mechanically actuated, and possesses five serially controlled segments. We designed a new compliant segment providing high torsion and axial stiffness as well as a low bending stiffness by merging the functions of four helicoids and a continuum backbone. Compliant segments were combined to form the compliant shaft of the new device. In order to control this compliant shaft, a control handle was designed that mimics the shaft structure. A prototype called the HelicoFlex was built using only three 3D printed parts. HelicoFlex, with its 10 degrees of freedom, showed a fluid motion in performing single and multi-curved paths. The multi-steerable instrument was 3D printed without any support material in the compliant shaft itself. This work contributes to enlarge the body of knowledge regarding how additive manufacturing could be used in the production of multi-steerable surgical instruments for personalized medicine.

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Section: Plos Onementioning

confidence: 99%

Exploring non-assembly 3D printing for novel compliant surgical devices

et al. 2020

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“…However, the instrument channel is only 1 mm in diameter which limits capabilities of pathology manipulation. Yoon et al proposed a robotic system which consists of separate endoscope and biopsy end effector modules with 4 mm and 5 mm diameters, respectively [13]. Due to size limitations, the simultaneous insertion of both modules is not feasible in the frontal sinus area.…”

Section: State Of Researchmentioning

confidence: 99%

A handheld flexible manipulator system for frontal sinus surgery

Coemert

Roth

Strauß³

et al. 2020

Int J CARS

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Purpose Draf drainage is the standard treatment procedure for frontal sinus diseases. In this procedure, rigid angled endoscopes and rigid curved instruments are used. However, laterally located pathologies in the frontal sinus cannot be reached with rigid instrumentation. In order to assist surgeons with such complicated cases, we propose a novel handheld flexible manipulator system. Methods A cross section of 3 mm × 4.6 mm enables transnasal guiding of a flexible endoscope with 1.4 mm diameter and a standard flexible surgical instrument with up to 1.8 mm diameter into the frontal sinus with increased reachability. The developed system consists of an electrical discharge-machined flexure hinge-based nitinol manipulator arm and a purely mechanical handheld control unit. The corresponding control unit enables upward and left-right bending of the manipulator arm, translation, rolling, actuation and also quick exchange of the surgical instrument. In order to verify the fulfillment of performance requirements, tests regarding reachability and payload capacity were conducted. Results Reachability tests showed that the manipulator arm can be inserted into the frontal sinus and reach its lateral regions following a Draf IIa procedure. The system can exert forces of at least 2 N in the vertical direction and 1 N in the lateral direction which is sufficient for manipulation of frontal sinus pathologies. Conclusion Considering the fact that the anatomical requirements of the frontal sinus are not addressed satisfactorily in the development of prospective flexible instruments, the proposed system shows great potential in terms of therapeutic use owing to its small cross section and dexterity.

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“…(1) Mechanical method: application of tension to the wire using a spring or elastic elements, [24][25][26] (2) Structural method: joint pulley method to compensate the changes in inner and outer wire length or change the wire direction, [27][28][29][30] (3) Algorithmic method: compensation or prediction of the length of the wire using the algorithm. 31 The method using elasticity does not work when the pulling force caused by the tautness of the wire is more than the linear range of the elastic force. That is, the elastic force is reduced every time under repeated bending.…”

Section: Introductionmentioning

confidence: 99%

DNA-Helix Inspired Wire Routing in Cylindrical Structures and Its Application to Flexible Surgical Devices

Ryu

Tae

2022

Soft Robotics

Self Cite

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In general wire-driven continuum robot mechanisms, the wires are used to control the motion of the devices attached at the distal end. The slack and taut wire is one of the challenging issues to solve in flexible mechanism. This phenomenon becomes worse when the continuum robot is inserted into the natural orifices of the human body, which inherently have uncertain curvilinear geometries consisting of multiple curvatures. Inspired by the unique characteristic of DNA-helix structure that the length of the helix remains almost constant regardless of the deflection of the DNA structure, this article proposes a new idea to design useful flexible mechanism to resolve slack of wires. Using modern Lie-group screw theory, the analytic model for length of helix wire wrapped around a single flexible backbone is proposed and then extended to a general model with multiple flexible backbones and different curvatures. Taking advantage of this helix type wire mechanism, we designed and implemented a flexible surgical device suitable for laryngopharyngeal surgery. The effectiveness of the proposed flexible mechanism is demonstrated through both simulation and phantom experiment.

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Image-Guided Dual Master–Slave Robotic System for Maxillary Sinus Surgery

Cited by 46 publications

References 26 publications

Exploring non-assembly 3D printing for novel compliant surgical devices

Exploring non-assembly 3D printing for novel compliant surgical devices

A handheld flexible manipulator system for frontal sinus surgery

DNA-Helix Inspired Wire Routing in Cylindrical Structures and Its Application to Flexible Surgical Devices

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