TY - GEN
T1 - Progress toward robotic surgery of the lateral skull base
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
AU - Gao, Anzhu
AU - Carey, John P.
AU - Murphy, Ryan J.
AU - Iordachita, Iulian
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Funding Information:
Research supported in part by NIH/NIBIB R01EB016703. Anzhu Gao was supported by Chinese National Natural Science Foundat ion (Grant No. 61473281) and China Scholarship Council (File No. 201408210100)
Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84977557900&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2016.7487642
DO - 10.1109/ICRA.2016.7487642
M3 - Conference contribution
AN - SCOPUS:84977557900
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4429
EP - 4435
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 May 2016 through 21 May 2016
ER -