A robotic assistant for trans-oral surgery: the robotic endo-laryngeal flexible (Robo-ELF) scope

Olds, Kevin; Hillel, Alexander T.; Kriss, Jonathan; Nair, Archana; Kim, Hongho; Cha, Elizabeth; Curry, Martin; Akst, Lee M.; Yung, Rex; Richmon, Jeremy D.; Taylor, Russell H.

doi:10.1007/s11701-011-0329-9

Cited by 14 publications

(10 citation statements)

References 5 publications

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“…In the past, the team around Olds et al developed a flexible endoscope that can be controlled via a joystick with only one hand 134 . This Robo-ELF system was specifically developed for laryngeal surgery and allows surgeons to use an additional instrument with the other hand 133 . Robo-ELF was tested in cadaver experiments, currently no information about the further development is available.…”

Section: New Technologiesmentioning

confidence: 99%

“…Die Arbeitsgruppe um Olds et al hat in der Vergangenheit ein flexibles Endoskop entwickelt, welches einhändig über eine Joystick gesteuert werden kann 134 . Dieses Robo-ELF System wurde speziell für die Larynxchirurgie entwickelt und gibt dem Operateur die Möglichkeit mit der freien Hand ein zusätzliches Instrument zu bedienen 133 . Robo-ELF wurde bisher in Kadaverexperimenten getestet, über die Weiterentwicklung existieren aktuell keine Informationen.…”

Section: Neue Technologienunclassified

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Robotische Chirurgie – operiert der Roboter?

Schuler

2018

Laryngo-Rhino-Otol

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ZuSammenfaSSungDer Roboter-assistierten Chirurgie (RAC) im Kopf-Hals-Bereich wird ein großes Potenzial zugeschrieben. Vor allem in der operativen Onkologie wird der Einsatz von Roboter-Systemen als besonders interessant erachtet. Bislang sind 2 Gerätetypen (DaVinci ® und FLEX ® ) für die klinische Anwendung im Kopf-HalsBereich zugelassen, und multiple weitere Systeme befinden sich in der präklinischen Erprobungsphase. Auch wenn prinzipiell bestimmte Patientengruppen von der RAC profitieren könnten, finden sich keine systematischen randomisierten Studien. Ein möglicher Vorteil der RAC gegenüber den bisherigen Standardverfahren kann daher bisher nicht nachgewiesen werden. Der begrenzte klinische Nutzen und die finanzielle Zusatzbelastung scheinen aktuell der Hauptgrund zu sein, warum der flächende-ckende Einsatz der RAC bislang ausgeblieben ist. Diese Über-sichtsarbeit beschreibt die verschiedenen Anwendungsmöglich-keiten der RAC im Kopf-Hals-Bereich. Außerdem werden die finanziellen und technischen Herausforderungen, sowie anstehende Weiterentwicklungen der RAC beleuchtet. Besonderes Augenmerk wird auf spezielle Risiken der Roboter-Chirurgie und aktuell laufende klinische Studien gelegt. Mittelfristig wird davon ausgegangen, dass die RAC Einzug in die klinische Routine erhalten wird und sich das medizinische Personal zunehmend mit den technischen, wissenschaftlichen und auch ethischen Besonderheiten auseinandersetzen muss.

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Section: New Technologiesmentioning

confidence: 99%

Section: Neue Technologienunclassified

Robotische Chirurgie – operiert der Roboter?

Schuler

2018

Laryngo-Rhino-Otol

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“…The main challenge for microsurgery is being able to perform tasks beyond the level of human perception and dexterity [1]. The poor sensory feedback to human operators brings challenges to microscale manoeuvres in a confined environment [2]. Other difficulties include sophisticated teleoperation mapping [3], the small field of view provided by the microscope [4], occlusions, instrument collision and a lack of tactile and haptic feedback.…”

Section: Introductionmentioning

confidence: 99%

A microsurgical robot research platform for robot-assisted microsurgery research and training

Zhang

Chen

et al. 2019

Int J CARS

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Purpose Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly designed for macro-scale minimally invasive surgery. There is a need to develop a dedicated microsurgical robot research platform for both research and clinical training. Methods A microsurgical robot research platform (MRRP) is introduced in this paper. The hardware system includes a slave robot with bimanual manipulators, two master controllers and a vision system. It is flexible to support multiple microsurgical tools. The software architecture is developed based on the robot operating system, which is extensible at high-level control. The selection of master-slave mapping strategy was explored, while comparisons were made between different interfaces. Results Experimental verification was conducted based on two microsurgical tasks for training evaluation, i.e. trajectory following and targeting. User study results indicated that the proposed hybrid interface is more effective than the traditional approach in terms of frequency of clutching, task completion time and ease of control. Conclusion Results indicated that the MRRP can be utilized for microsurgical skills training, since motion kinematic data and vision data can provide objective means of verification and scoring. The proposed system can further be used for verifying high-level control algorithms and task automation for RAMS research.

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“…However, the proposed systems were developed to motorize a flexible endoscope that is used in investigation of the colon [5]- [8] or throat [9]- [10]. The structures and steering methods between flexible endoscopes used in rhinoscopy and in gastroscopy are different.…”

Section: Introductionmentioning

confidence: 99%

Image-guided steering of a motorized hand-held flexible rhino endoscope in ENT diagnoses

Chen¹,

Weiwei²,

Gumprecht

et al. 2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Flexible rhino endoscopes have been extensively used in many surgical and diagnostic procedures, such as in a rhinoscopy to examine the tumor or polyp in nasal cavity. However, the orientation of flexible endoscopes is only based on the endoscopic images, making its manipulation complex and requiring clinical experience. Therefore, we proposed a hand-held manipulator to motorize a standard flexible rhino endoscope.In this paper, we present a method to steer the motorized flexible rhino endoscope by using endoscopic images. A vision technique is used to extract the dark region from the image, which represents the distant inner space of nasal cavity and indicates the heading direction of the endoscope. Using this computer recognized target orientation, automatic endoscope steering becomes possible. Experiments were conducted in an anatomical model to simulate rhinoscopy. The results show that the image-guided steering is significantly faster than traditional manual steering and that the measured accuracy of the system fulfills current clinical requirements.Manuscript received October 15, 2012. We would like to thank the Deutsche Forschungsgesellschaft (German research foundation) for funding this research project through the grant LU 604/24-1 and the company Karl Storz (Tuttlingen, Germany) for providing the flexible endoscope.

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A robotic assistant for trans-oral surgery: the robotic endo-laryngeal flexible (Robo-ELF) scope

Cited by 14 publications

References 5 publications

Robotische Chirurgie – operiert der Roboter?

Robotische Chirurgie – operiert der Roboter?

A microsurgical robot research platform for robot-assisted microsurgery research and training

Image-guided steering of a motorized hand-held flexible rhino endoscope in ENT diagnoses

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