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

Anzhu Gao, John P. Carey, Ryan J. Murphy, Iulian Iordachita, Russell H. Taylor, Mehran Armand

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4429-4435
Number of pages7
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Gao, A., Carey, J. P., Murphy, R. J., Iordachita, I., Taylor, R. H., & Armand, M. (2016). Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 4429-4435). [7487642] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487642