A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors
A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors
复制标题
模块化多臂同心管机器人系统在眼眶肿瘤经鼻手术中的应用
DOI：
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
R. Webster
中科院分区：
文献类型：
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作者：
Trevor L. Bruns;A. Remirez;Maxwell Emerson;R. Lathrop;A. Mahoney;H. Gilbert;C. Liu;P. Russell;R. Labadie;K. Weaver;R. Webster
在远程操作手术机器人的发展中，一类被称为同心管机器人的连续体机器人在空间是主要限制的临床应用中引起了特别的兴趣。其中一个应用是经鼻手术，用于进入鼻窦和颅底的手术部位。目前进行这些手术的技术要求外科医生在狭窄的鼻道范围内操纵多个刚性工具，使其在手术部位的灵活性有限。在这篇文章中，我们提出了一个完整的机器人系统，用于经鼻手术的同心管操纵器。它说明了无菌的装袋概念，以及术中可互换的器械，这些器械是在考虑手术室工作流程兼容性的情况下开发的。该系统还包括一个新的模块化便携式外科医生控制台，一个可变视角内窥镜，以促进手术视野的可视化，以及定制的电机控制电子设备。此外，我们首次在几何精确的手术场景中在物理原型上演示了弹性不稳定性避免，这有助于使用更高曲率的管，而不是在此应用中安全使用。从手术应用的角度来看，这篇文章提出了第一个机器人方法来去除眼眶尖区生长在眼后的肿瘤，这是以前没有尝试过的手术机器人。
In the development of telemanipulated surgical robots, a class of continuum robots known as concentric tube robots has drawn particular interest for clinical applications in which space is a major limitation. One such application is transnasal surgery, which is used to access surgical sites in the sinuses and at the skull base. Current techniques for performing these procedures require surgeons to maneuver multiple rigid tools through the narrow confines of the nasal passages, leaving them with limited dexterity at the surgical site. In this article, we present a complete robotic system for transnasal surgery featuring concentric tube manipulators. It illustrates a bagging concept for sterility, and intraoperatively interchangeable instruments that work in conjunction with it, which were developed with operating room workflow compatibility in mind. The system also includes a new modular, portable surgeon console, a variable view-angle endoscope to facilitate surgical field visualization, and custom motor control electronics. Furthermore, we demonstrate elastic instability avoidance for the first time on a physical prototype in a geometrically accurate surgical scenario, which facilitates use of higher curvature tubes than could otherwise be used safely in this application. From a surgical application perspective, this article presents the first robotic approach to removing tumors growing behind the eyes in the orbital apex region, which has not been attempted previously with a surgical robot.
影响因子：
2.5
作者：
Fedorov, Andriy;Beichel, Reinhard;Kalpathy-Cramer, Jayashree;Finet, Julien;Fillion-Robin, Jean-Christophe;Pujol, Sonia;Bauer, Christian;Jennings, Dominique;Fennessy, Fiona;Sonka, Milan;Buatti, John;Aylward, Stephen;Miller, James V.;Pieper, Steve;Kikinis, Ron
通讯作者：
Kikinis, Ron
影响因子：
5.2
作者：
Tipakorn Greigarn;Nate Lombard Poirot;Xinyang Xu;M. C. Cavusoglu
通讯作者：
Tipakorn Greigarn;Nate Lombard Poirot;Xinyang Xu;M. C. Cavusoglu
影响因子：
7.8
作者：
Burgner-Kahrs, Jessica;Rucker, D. Caleb;Choset, Howie
通讯作者：
Choset, Howie