SIA OpenIR  > 机器人学研究室
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
作者部门机器人学研究室
会议名称2016 IEEE International Conference on Robotics and Automation (ICRA)
会议日期May 16-21, 2016
会议地点Stockholm, Sweden
会议录名称2016 IEEE International Conference on Robotics and Automation (ICRA)
出版者IEEE
出版地New York
2016
页码4429-4435
收录类别EI ; CPCI(ISTP)
EI收录号20162802587409
WOS记录号WOS:000389516203119
产权排序1
ISSN号1050-4729
ISBN号978-1-4673-8026-3
摘要Lesions 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.
语种英语
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19536
专题机器人学研究室
通讯作者Gao AZ(高安柱)
作者单位1.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
推荐引用方式
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.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Progress toward robo(739KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Gao AZ(高安柱)]的文章
[John P. Carey]的文章
[Ryan J. Murphy]的文章
百度学术
百度学术中相似的文章
[Gao AZ(高安柱)]的文章
[John P. Carey]的文章
[Ryan J. Murphy]的文章
必应学术
必应学术中相似的文章
[Gao AZ(高安柱)]的文章
[John P. Carey]的文章
[Ryan J. Murphy]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Progress toward robotic surgery of the lateral skull base Integration of a dexterous continuum manipulator and flexible ring curette.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。