Development of a robotic endoscope holder for nasal surgery

Li, Peng; Yip, Hiu Man; Navarro-Alarcon, David; Liu, Yunhui; Tong, Michael C. F.; Leung, Iris

doi:10.1109/icinfa.2013.6720476

Cited by 23 publications

(10 citation statements)

References 10 publications

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“…It is a great advantage considering the fact that the operating room has a confined space. Therefore, the RCM mechanism has been extensively applied to medical robots for (among others) laparoscopic, eye, and brain surgeries [2][3][4][5][6][7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Lead-Screw-Driven Revolute Joint for Use in the Remote Center of Motion Mechanism

2022

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The revolute joint of the remote center of motion (RCM) mechanism should be operated within a limited rotation range to ensure patient safety. To achieve this with the conventional revolute joint, the rotation range was limited with the use of software-based methods. However, to eliminate electrical malfunction risks, the rotation range should be limited by the mechanism itself. In this study, we design, analyze, and test a new type of revolute joint for the RCM mechanism. In the proposed mechanism, a leadscrew-driven linear actuator was applied to implement the rotational motion. The stroke range of the linear actuator was physically limited. In turn, this limited the rotation range. In addition, the lead-screw-based mechanism can improve the angular resolution and torque efficiency compared with the conventional mechanism. We conducted comparative analyses and experiments between the proposed and conventional revolute joints. Based on these comparisons, it was confirmed that the resolution could be improved by at least 75 times, and the required motor torque was reduced by approximately 158 times compared with the conventional mechanism. The proposed revolute joint is the first successful trial based on a lead-screw driven linear actuator that ensures operation safety and high-torque efficiency compared with previous revolute joints.

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Section: Introductionmentioning

confidence: 99%

Lead-Screw-Driven Revolute Joint for Use in the Remote Center of Motion Mechanism

2022

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“…Rilk et al in TU Braunschweig built an active endoscope robot system based on an industrial manipulator [18][19][20][21][22], and the feasibility is verified using a robot to automatically obtain the surgical field of view during nasal surgery. Navarro-Alarcon et al of the Chinese University of Hong Kong have developed an endoscope robot for nasal surgery [23][24][25], which uses a wearable foot pedal to control the movement of the robot. The proposed interactive mode frees the surgeon's hands to a certain extent.…”

Section: Introductionmentioning

confidence: 99%

Design and voice‐based control of a nasal endoscopic surgical robot

Deng

Zhang

2021

CAAI Trans on Intel Tech

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In traditional nasal surgery, surgeons are prone to fatigue and jitter by holding the endoscope for a long-time. Some complex operations require assistant surgeon to assist with holding the endoscope. To address the above problems, the authors design a remote centre of motion based nasal robot, and propose a voice-based robot control method. First, through the operation space analysis of nasal surgery, the design scheme of the robot based on RCM mechanism is proposed. On this basis, the design parameters of the robot are analysed to complete the entire design of robot. Then, considering that the surgeon's hands are occupied by surgical instruments during complex surgical operations, a voice-based robot control method is proposed. This method obtains direction instructions from surgeons by analysing the movement of the endoscopic image. Afterward, a commercial speech recognition interface is used to realise the offline grammar controlwords lib compatible with both Chinese and English, and the overall strategy of robot control is proposed. Finally, an experimental platform for virtual robot control is established, and the voice-based robot control experiment is performed. The results show that the proposed voice-based control method is feasible, and it provides guidance for the subsequent development and control of the actual robot system. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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“…Medical positioning devices as surgical adjuncts have also been developed with augmented optics and enhanced ergonomics [33] for specialized functions such as for nasal surgery [34] and uterus positioning robots for laparoscopic hysterectomy [35]. Other more complex systems such as the Zeus system (Computer Motion Inc.), or the da Vinci system (Intuitive Surgical Inc.) have also been developed for complex multi-purpose surgeries [33], [36].…”

Section: Introductionmentioning

confidence: 99%

Pre-Clinical Translation of Second Harmonic Microscopy of Meniscal and Articular Cartilage Using a Prototype Nonlinear Microendoscope

Baskey

Andreana

Lanteigne

et al. 2019

IEEE J. Transl. Eng. Health Med.

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Previous studies using nonlinear microscopy have demonstrated that osteoarthritis (OA) is characterized by the gradual replacement of Type II collagen with Type I collagen. The objective of this study was to develop a prototype nonlinear laser scanning microendoscope capable of resolving the structural differences of collagen in various orthopaedically relevant cartilaginous surfaces. The current prototype developed a miniaturized femtosecond laser scanning instrument, mounted on an articulated positioning system, capable of both conventional arthroscopy and second-harmonic laser-scanning microscopy. Its optical system includes a multi-resolution optical system using a gradient index objective lens and a customized multi-purpose fiber optic sheath to maximize the collection of backscattered photons or provide joint capsule illumination. The stability and suitability of the prototype arthroscope to approach and image cartilage were evaluated through preliminary testing on fresh, minimally processed, and partially intact porcine knee joints. Image quality was sufficient to distinguish between hyaline cartilage and fibrocartilage through unique Type I and Type II collagen-specific characteristics. Imaging the meniscus revealed that the system was able to visualize differences in the collagen arrangement between the superficial and lamellar layers. Such detailed in vivo imaging of the cartilage surfaces could obviate the need to perform biopsies for ex vivo histological analysis in the future, and provide an alternative to conventional external imaging to characterize and diagnose progressive and degenerative cartilage diseases such as OA. Moreover, this system is readily customizable and may provide a suitable and modular platform for developing additional tools utilizing femtosecond lasers for tissue cutting within the familiar confines of two or three portal arthroscopy techniques.

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Development of a robotic endoscope holder for nasal surgery

Cited by 23 publications

References 10 publications

Lead-Screw-Driven Revolute Joint for Use in the Remote Center of Motion Mechanism

Lead-Screw-Driven Revolute Joint for Use in the Remote Center of Motion Mechanism

Design and voice‐based control of a nasal endoscopic surgical robot

Pre-Clinical Translation of Second Harmonic Microscopy of Meniscal and Articular Cartilage Using a Prototype Nonlinear Microendoscope

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