Friedrich D T, Modes V, Hoffmann T K, Greve J, Schuler P J, Burgner-Kahrs J
Department of Oto-Rhino-Laryngology, Head and Neck Surgery, Ulm University Medical Center, Ulm, Germany.
Laboratory for Continuum Robotics, Leibniz Universität Hannover, Hanover, Germany.
Int J Med Robot. 2018 Oct;14(5):e1928. doi: 10.1002/rcs.1928. Epub 2018 Jun 20.
Evidence suggests that transoral robot-assisted surgery is becoming increasingly common, yet current systems are incapable of sufficiently reaching the glottis or subglottic areas. This paper presents a teleoperated tubular continuum robot prototype for laryngeal surgery in a feasibility study.
A tubular continuum robot prototype is used to perform basic surgical examination in five ex vivo porcine laryngeal specimens. Standard imaging and tooling were integrated and evaluated to improve the system for future application in humans.
Access to and application of the tubular continuum robot in the porcine larynx is feasible. Visualization of and accessibility to all structures of interest were successfully achieved, and minor surgical procedures such as biopsies could be performed.
Despite proven feasibility, there is a need for further improvements. A version with dual robot arms would be essential to realize a pre-market prototype for further investigation in a human model.
有证据表明经口机器人辅助手术正变得越来越普遍，但目前的系统无法充分到达声门或声门下区域。本文在一项可行性研究中展示了一种用于喉部手术的远程操作管状连续体机器人原型。
使用管状连续体机器人原型对五个离体猪喉标本进行基本的手术检查。集成并评估了标准成像和工具，以改进该系统以便未来应用于人体。
管状连续体机器人在猪喉中的使用和应用是可行的。成功实现了对所有感兴趣结构的可视化和可达性，并且可以进行活检等小型手术操作。
尽管已证明具有可行性，但仍需要进一步改进。具有双机器人手臂的版本对于实现用于人体模型进一步研究的上市前原型至关重要。
