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

Kevin Olds; Alexander Hillel; Jonathan Kriss; Archana Nair; Hongho Kim; Elizabeth Cha; Martin Curry; Lee Akst; Rex Yung; Jeremy Richmon; Russell Taylor

doi:10.1007/s11701-011-0329-9

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

Kevin Olds, Alexander Hillel, Jonathan Kriss, Archana Nair, Hongho Kim, Elizabeth Cha, Martin Curry, Lee Akst, Rex Yung, Jeremy Richmon, Russell Taylor

Research output: Contribution to journal › Article › peer-review

6 Scopus citations

Abstract

This paper describes the continued development of the Robotic EndoLaryngeal (Robo-ELF) Scope System, a simple clinically usable robot for manipulating flexible endoscopes, particularly in laryngeal surgery. The system includes a robot with three active and two passive degrees of freedom, a five degree of freedom passive positioning arm, a malleable scope shaft support, and a custom joystick controller. The Robo-ELF Scope allows a surgeon to control a flexible endoscope with only one hand and also to release the controls and perform bimanual surgery if desired. We have evaluated the Robo-ELF Scope system in both phantom and cadaver studies and found it superior to hand manipulation of flexible endoscopes and conventional rigid endoscopes.

Original language	English (US)
Pages (from-to)	13-18
Number of pages	6
Journal	Journal of Robotic Surgery
Volume	6
Issue number	1
DOIs	https://doi.org/10.1007/s11701-011-0329-9
State	Published - Mar 2012

Keywords

Endoscope manipulation
Endoscopic surgery
Flexible endoscope
Laryngeal surgery
Robotic surgery

ASJC Scopus subject areas

Surgery
Health Informatics

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10.1007/s11701-011-0329-9

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title = "A robotic assistant for trans-oral surgery: The robotic endo-laryngeal flexible (Robo-ELF) scope",

abstract = "This paper describes the continued development of the Robotic EndoLaryngeal (Robo-ELF) Scope System, a simple clinically usable robot for manipulating flexible endoscopes, particularly in laryngeal surgery. The system includes a robot with three active and two passive degrees of freedom, a five degree of freedom passive positioning arm, a malleable scope shaft support, and a custom joystick controller. The Robo-ELF Scope allows a surgeon to control a flexible endoscope with only one hand and also to release the controls and perform bimanual surgery if desired. We have evaluated the Robo-ELF Scope system in both phantom and cadaver studies and found it superior to hand manipulation of flexible endoscopes and conventional rigid endoscopes.",

keywords = "Endoscope manipulation, Endoscopic surgery, Flexible endoscope, Laryngeal surgery, Robotic surgery",

author = "Kevin Olds and Alexander Hillel and Jonathan Kriss and Archana Nair and Hongho Kim and Elizabeth Cha and Martin Curry and Lee Akst and Rex Yung and Jeremy Richmon and Russell Taylor",

note = "Funding Information: Acknowledgments Funding was provided by Johns Hopkins Hospital Department of Otolaryngology Internal Funds. REU Site for Computational Sensing and Medical Robotics Award Number 1,004,782.",

year = "2012",

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doi = "10.1007/s11701-011-0329-9",

language = "English (US)",

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AU - Olds, Kevin

AU - Hillel, Alexander

AU - Kriss, Jonathan

AU - Nair, Archana

AU - Kim, Hongho

AU - Cha, Elizabeth

AU - Curry, Martin

AU - Akst, Lee

AU - Yung, Rex

AU - Richmon, Jeremy

AU - Taylor, Russell

N1 - Funding Information: Acknowledgments Funding was provided by Johns Hopkins Hospital Department of Otolaryngology Internal Funds. REU Site for Computational Sensing and Medical Robotics Award Number 1,004,782.

PY - 2012/3

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N2 - This paper describes the continued development of the Robotic EndoLaryngeal (Robo-ELF) Scope System, a simple clinically usable robot for manipulating flexible endoscopes, particularly in laryngeal surgery. The system includes a robot with three active and two passive degrees of freedom, a five degree of freedom passive positioning arm, a malleable scope shaft support, and a custom joystick controller. The Robo-ELF Scope allows a surgeon to control a flexible endoscope with only one hand and also to release the controls and perform bimanual surgery if desired. We have evaluated the Robo-ELF Scope system in both phantom and cadaver studies and found it superior to hand manipulation of flexible endoscopes and conventional rigid endoscopes.

AB - This paper describes the continued development of the Robotic EndoLaryngeal (Robo-ELF) Scope System, a simple clinically usable robot for manipulating flexible endoscopes, particularly in laryngeal surgery. The system includes a robot with three active and two passive degrees of freedom, a five degree of freedom passive positioning arm, a malleable scope shaft support, and a custom joystick controller. The Robo-ELF Scope allows a surgeon to control a flexible endoscope with only one hand and also to release the controls and perform bimanual surgery if desired. We have evaluated the Robo-ELF Scope system in both phantom and cadaver studies and found it superior to hand manipulation of flexible endoscopes and conventional rigid endoscopes.

KW - Endoscope manipulation

KW - Endoscopic surgery

KW - Flexible endoscope

KW - Laryngeal surgery

KW - Robotic surgery

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

Abstract

Keywords

ASJC Scopus subject areas

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