Robotic-assisted micro-surgery of the throat: The trans-nasal approach

Bajo, Andrea; Dharamsi, Latif M.; Netterville, James L.; Garrett, C. Gaelyn; Simaan, Nabil

doi:10.1109/icra.2013.6630581

Cited by 34 publications

(17 citation statements)

References 18 publications

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“…Therefore, S 01 and S 23 can be estimated and then the Bézier curve can be solved and determined with (5) and (8).…”

Section: Shape Reconstruction Methodsmentioning

confidence: 99%

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Shape reconstruction for wire-driven flexible robots based on Bézier curve and electromagnetic positioning

Song

Huang

et al. 2015

Mechatronics

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“…Therefore, S 01 and S 23 can be estimated and then the Bézier curve can be solved and determined with (5) and (8).…”

Section: Shape Reconstruction Methodsmentioning

confidence: 99%

“…There are two prevailing flexible manipulator designs [5]. One is the wire (or tendon or cable) driven manipulator [6][7][8][9][10] and the other is the concentric tube robot [11,12]. Different from traditional rigid industrial robots, these flexible robots are under-actuated, i.e.…”

Section: Introductionmentioning

confidence: 99%

Shape reconstruction for wire-driven flexible robots based on Bézier curve and electromagnetic positioning

Song

Huang

et al. 2015

Mechatronics

View full text Add to dashboard Cite

“…This new surgical approach is motivated by the dichotomy of cost and complexity of the current transoral approach (which requires laryngeal suspension and full anesthesia with their associated post-operative sequelae) and the simplicity of micro-surgical tasks such as removal of polyps, cysts and nodules of the vocal folds or injection medialization as a treatment of unilateral vocal fold medialization. Building on the concept of transnasal access into the airways as first proposed by Ikuta et al, 115 a rapidly deployable robot for transnasal micro-surgery was developed by Bajo et al 116 This robot uses a multi-backbone continuum robot architecture and it has a diameter of 5 mm with three working channels of 1.8 mm. The unique aspect of this robot is its ability to actively comply with the environment when inserted through a nasopharyngeal tube.…”

Section: Transnasal Systemsmentioning

confidence: 99%

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Orekhov

Abah

Simaan

2018

The Encyclopedia of Medical Robotics

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The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments to robot-assisted surgery. In the last decade, the increasing demand for new surgical paradigms to enable access into the anatomy without skin incision (intraluminal surgery) or with a single skin incision (Single Port Access surgery -SPA) has led researchers to investigate snake-like flexible surgical devices. In this chapter, we first present an overview of the background, motivation, and taxonomy of MIS and its newer derivatives. Challenges of MIS and its newer derivatives (SPA and intraluminal surgery) are outlined along with the architectures of new snake-like robots meeting these challenges. We also examine the commercial and research surgical platforms developed over the years, to address the specific functional requirements and constraints imposed by operations in confined spaces. The chapter concludes with an evaluation of open problems in surgical robotics for intraluminal and SPA, and a look at future trends in surgical robot design that could potentially address these unmet needs.

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“…As a result, surgical robotics is shifting away from more traditional rigid telerobotic master-slave paradigms that are designed for larger, more accessible anatomical workspaces. [2,3,4,5].…”

Section: Introductionmentioning

confidence: 99%

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

Gafford

Ranzani²,

Russo³

et al. 2017

Journal of Medical Devices

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Recent advances in medical robotics have initiated a transition from rigid serial manipulators to flexible or continuum robots capable of navigating to confined anatomy within the body. A desire for further procedure minimization is a key accelerator for the development of these flexible systems where the end goal is to provide access to the previously inaccessible anatomical workspaces and enable new minimally invasive surgical (MIS) procedures. While sophisticated navigation and control capabilities have been demonstrated for such systems, existing manufacturing approaches have limited the capabilities of millimeter-scale end-effectors for these flexible systems to date and, to achieve next generation highly functional end-effectors for surgical robots, advanced manufacturing approaches are required. We address this challenge by utilizing a disruptive 2D layer-by-layer precision fabrication process (inspired by printed circuit board manufacturing) that can create functional 3D mechanisms by folding 2D layers of materials which may be structural, flexible, adhesive, or conductive. Such an approach enables actuation, sensing, and circuitry to be directly integrated with the articulating features by selecting the appropriate materials during the layer-by-layer manufacturing process. To demonstrate the efficacy of this technology, we use it to fabricate three modular robotic components at the millimeter-scale: (1) sensors, (2) mechanisms, and (3) actuators. These modules could potentially be implemented into transendoscopic systems, enabling bilateral grasping, retraction and cutting, and could potentially mitigate challenging MIS interventions performed via endoscopy or flexible means. This research lays the ground work for new mechanism, sensor and actuation technologies that can be readily integrated via new millimeter-scale layer-by-layer manufacturing approaches.

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Robotic-assisted micro-surgery of the throat: The trans-nasal approach

Cited by 34 publications

References 18 publications

Shape reconstruction for wire-driven flexible robots based on Bézier curve and electromagnetic positioning

Shape reconstruction for wire-driven flexible robots based on Bézier curve and electromagnetic positioning

Snake-Like Robots for Minimally Invasive, Single-Port, and Intraluminal Surgeries

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

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