Development of a snake-like dexterous manipulator for skull base surgery

Suat Coemert, Anzhu Gao, John P. Carey, Mattias F. Traeger, Russell H. Taylor, Tim C. Lueth, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Petrous apex lesions constitute considerable surgical challenges due to their location in the skull base and close relationship with critical structures such as inner ear, carotid arteries, facial nerves and jugular bulb. These lesions often cannot be treated completely with rigid tools due to the limited accessibility. We are aiming to develop a snake-like manipulator to assist surgeons with the infralabyrinthine treatment of petrous apex lesions with increased dexterity. This snake-like dexterous manipulator (SDM) with 3.3 mm outer diameter and 40 mm working length was designed including a tool channel with a diameter of 1.8 mm and an endoscope channel with a diameter of 0.7 mm. The SDM can be actuated in one plane and two directions enabling the C- and S-shaped bends and rotated around its longitudinal axis. The constant curvature modeling was implemented to predict the deflection in one direction. Experiments were carried out with optical microscope to find out different bending modes. Experimental bending modes were in a good agreement with the theoretical ones in terms of the bending behavior. However tip position prediction showed discrepancies up to 1 mm in X and 2 mm in Z axes.

Original languageEnglish (US)
Title of host publication2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5087-5090
Number of pages4
ISBN (Electronic)9781457702204
DOIs
StatePublished - Oct 13 2016
Event38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States
Duration: Aug 16 2016Aug 20 2016

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2016-October
ISSN (Print)1557-170X

Other

Other38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
CountryUnited States
CityOrlando
Period8/16/168/20/16

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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