Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 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
	2016
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
页码	4429-4435
通讯作者	高安柱
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2016 IEEE International Conference on Robotics and Automation (ICRA)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	1050-4729
ISBN号	978-1-4673-8026-3
WOS记录号	WOS:000389516203119
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19536]
专题	沈阳自动化研究所_机器人学研究室
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]. 见:2016 IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden. May 16-21, 2016.