Compliant and Flexible Robotic System with Parallel Continuum Mechanism for Transoral Surgery: A Pilot Cadaveric Study

Li, Changsheng1,2; Gu, Xiaoyi2,3; Xiao, Xiao2,4; Lim, Chwee Ming5,6; Ren, Hongliang2,7,8

2022-12-01

10.3390/robotics11060135

ROBOTICS   影响因子和分区

2218-6581

As one of the minimally invasive surgeries (MIS), transoral robotic surgery (TORS) contributes to excellent oncological and functional outcomes. This paper introduces a compliant and flexible robotic system for transoral surgery, consisting of an execution part with flexible parallel mechanisms and a positioning part with a continuum structure. A pilot cadaveric study that mimics the procedure of the TORS using an intact cadaveric human head was conducted to evaluate the feasibility and efficiency of this robotic system. Both the initial setup time and the time cost by the robot to safely access the deep surgical area in the upper aerodigestive tract are shortened due to the enlarged workspace, compact structure, and increased flexibility. The proposed surgical robotic system is preliminarily demonstrated to be feasible for TORS, especially for the in-depth surgical sites in the upper aerodigestive tract.

surgical robotics flexible parallel mechanism continuum robot transoral robotic surgery cadaveric study

ESCI

英语

其他

Robotics

Robotics

WOS:000902924900001

MDPI

Web of Science

1.Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China
2.Natl Univ Singapore, Dept Biomed Engn, Singapore 129793, Singapore
3.Suzhou Actors Medtech Co Ltd, Suzhou 215123, Peoples R China
4.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen 518055, Peoples R China
5.Singapore Gen Hosp, Dept Otolaryngol Head & Neck Surg, Singapore 169608, Singapore
6.Duke NUS Grad Med Sch, Singapore 169857, Singapore
7.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong 999077, Peoples R China
8.Chinese Univ Hong Kong, Shun Hing Inst Adv Engn, Hong Kong 999077, Peoples R China

Li, Changsheng,Gu, Xiaoyi,Xiao, Xiao,et al. Compliant and Flexible Robotic System with Parallel Continuum Mechanism for Transoral Surgery: A Pilot Cadaveric Study[J]. ROBOTICS,2022,11(6).

Li, Changsheng,Gu, Xiaoyi,Xiao, Xiao,Lim, Chwee Ming,&Ren, Hongliang.(2022).Compliant and Flexible Robotic System with Parallel Continuum Mechanism for Transoral Surgery: A Pilot Cadaveric Study.ROBOTICS,11(6).

Li, Changsheng,et al."Compliant and Flexible Robotic System with Parallel Continuum Mechanism for Transoral Surgery: A Pilot Cadaveric Study".ROBOTICS 11.6(2022).