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Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette
Gao AZ(高安柱); John P. Carey; Ryan J. Murphy; Iulian Iordachita; Russell H. Taylor; Mehran Armand
Department机器人学研究室
Conference Name2016 IEEE International Conference on Robotics and Automation (ICRA)
Conference DateMay 16-21, 2016
Conference PlaceStockholm, Sweden
Source Publication2016 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Publication PlaceNew York
2016
Pages4429-4435
Indexed ByEI ; CPCI(ISTP)
EI Accession number20162802587409
WOS IDWOS:000389516203119
Contribution Rank1
ISSN1050-4729
ISBN978-1-4673-8026-3
AbstractLesions of the lateral skull base in the petrous apex present unique surgical challenges because of the proximity of critical structures, including the inner ear, carotid artery, jugular bulb, facial nerve, lower cranial nerves, dura and brain. Currently, there are few appropriate surgical devices that can reach and remove these lesions, each with their own disadvantages. Here we investigate the feasibility of a dexterous continuum manipulator (DCM) capable of C-& S-shaped bends enabling dissection with remote center of motion (RCM) deep to the intact inner ear. A dedicated borescope channel provides the necessary visualization, while a flexible ring curette pre-shaped with a nitinol strip is designed to work through the instrument lumen for curettage of a cystic lesion. The kinematics of the DCM with the ring curette subject to an RCM constraint are investigated to explore the boundaries of a typical cyst cavity. Experiments in the planar phantom are carried out to validate feasibility, and results show that the proposed solution is practicable, accomplishing 80% and 83% removal of cysts for two kinds of boundaries.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19536
Collection机器人学研究室
Corresponding AuthorGao AZ(高安柱)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Department of Otolaryngology - Head and Neck Surgery, Johns Hopkins University School of Medicine, Baltimore, MD 21287, United States
3.Research and Engineering Development Department, Johns Hopkins University, Applied Physics Laboratory, Laurel, MD 20723, United States
4.Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21218, United States
Recommended Citation
GB/T 7714
Gao AZ,John P. Carey,Ryan J. Murphy,et al. Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette[C]. New York:IEEE,2016:4429-4435.
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