Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot

Chiluisa, Alex J.; Rossum, Floris J. Van; Gafford, Joshua B.; Labadie, Robert F.; Webster, Robert J.; Fichera, Loris

doi:10.1109/ismr48331.2020.9312937

Cited by 7 publications

(4 citation statements)

References 27 publications

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“…In a realistic setting, being able to deliver laser treatment to an area that cannot be visualized would, in fact, be of limited utility. Endoscopic visibility was modeled using the algorithm developed in prior work by one of the co-authors, [19][20][21] which checks for the existence of a direct line-of-sight between an endoscope's lens and a target. The Pentax endoscope simulated in this study has a field of view of 85 .…”

Section: Methodsmentioning

confidence: 99%

Benefits of Side‐Firing Optical Fibers in Endoscopic Laser Treatment of the Larynx

et al. 2022

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Objective: To elucidate potential tissue coverage of side-firing optical fibers in office-based endoscopic laser treatment of larynx, as well as to demonstrate their enhanced ability to address challenging anatomic areas.Method: We performed a comparative study of four different fiber designs: a traditional forward-facing fiber, and three side-firing fibers that emit light at an angle of 45 , 70 , and 90 , respectively. The study was conducted in simulation, using eight three-dimensional models of the human larynx generated from microtomography x-ray scans. A computer program simulated the insertion of the endoscope into the larynx, and the Möller-Trumbore algorithm was used to simulate the application of laser light.Results: Side-firing laser fibers increased potential tissue coverage by a mean of 50.2 (standard deviation [SD] 25.8), 73.8 (SD 41.3), and 84.0 (SD 47.6) percent for angles of 45 , 70 , and 90 , respectively, compared to forward-facing fibers. Angled fibers provided access to areas of the larynx considered difficult to address by traditional methods, including the infraglottis, laryngeal ventricle, and right vocal fold.Conclusion: Simulation results suggest that side-firing optical fibers have the potential to enhance anatomical access during in-office endoscopic laser procedures in the larynx. Further research is needed to better understand the benefits and any potential risks or contraindications of side-firing optical fibers.

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Section: Methodsmentioning

confidence: 99%

Benefits of Side‐Firing Optical Fibers in Endoscopic Laser Treatment of the Larynx

et al. 2022

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“…Among the four types of structures mentioned in Section 2.2, the backbone-based type is the most common due to the requirements of minimally invasive surgical endoscope scenarios, such as small outer diameter, high flexibility, easy interchangeability, and the presence of a tool channel. In addition to the backbone type, Butler et al [271] proposed a structure combining concentric tubes and a backbone, while Gao et al and Hong et al [249,272] reported endoscope continuum robots using a notched tube structure. The concentric tube structure is less flexible and can easily cause tissue damage, while the notched tube structure, due to its structural characteristics, often achieves only single-DoF bending in each segment.…”

Section: Structurementioning

confidence: 99%

“…To reduce the computational complexity of control models, most research studies have used order-reduced modal models, such as PCC, CC, D-H, and other models. [53,54,249,268,272,278,[290][291][292][293] However, research that utilizes models like the Cosserat rod model [49][50][51]284] achieves high computational complexity, resulting in lower control accuracy and real-time performance. With the emergence of learningbased methods, data-driven models, as used in refs.…”

Section: Control and Navigationmentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

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“…Benefiting from the extreme dexterity and flexibility, continuum robots are increasingly used in minimally invasive surgery (MIS) [9]. Especially, in single port access surgery and natural orifices transluminal endoscopic surgery [10,11], continuum robots are often used in the wrist joints of the surgery system [12][13][14][15]. However, within the miniaturized wrist surgical instrument, notched continuum robotic wrists are an emerging area of research.…”

Section: Introductionmentioning

confidence: 99%

Curvature Correction of a Notched Continuum Robot Based on a Static Model Considering Large Deformation and Friction Effect

et al. 2022

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Continuum robots are often used as wrist joints in medical robots because of their high dexterity and flexibility. Especially, the notched continuum robot (NCR) is used in the miniaturized wristed surgical robot. The Piecewise Constant Curvature (PCC) assumption is often used in the design of NCR. However, due to the friction effect, ideal PCC is difficult to achieve. Static analysis is a necessary means to correct the curvature of NCR. The static modeling of NCR is often based on the theory of small deformation. However, this cannot obtain accurate solutions at large bending angles. In this paper, a static model of a triangular-notched continuum robot is proposed. It presents a curvature correction method of NCR, considering large deformation. In addition, the friction effect is considered in the correction of PCC. The static model is derived from the end notch. Based on the Coulomb friction model, the recurrence relationship of the force on the cable is obtained. Then the elliptic integral solution corresponding to the large deformation assumption is calculated. The deformation parameters of the NCR are obtained by numerical iteration. Finally, the capability and validity of the static model proposed in this paper are verified in the experiment. This paper is of great significance for establishing an accurate static model for curvature correction and design of the notched continuum robot.

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Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot

Cited by 7 publications

References 27 publications

Benefits of Side‐Firing Optical Fibers in Endoscopic Laser Treatment of the Larynx

Benefits of Side‐Firing Optical Fibers in Endoscopic Laser Treatment of the Larynx

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Curvature Correction of a Notched Continuum Robot Based on a Static Model Considering Large Deformation and Friction Effect

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