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

被引：7

作者：

Li, Changsheng ^{[1
,2
]}

Gu, Xiaoyi ^{[2
,3
]}

Xiao, Xiao ^{[2
,4
]}

Lim, Chwee Ming ^{[5
,6
]}

Ren, Hongliang ^{[2
,7
,8
]}

机构：

[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

来源：

ROBOTICS | 2022年 / 11卷 / 06期

基金：

中国国家自然科学基金;

关键词：

surgical robotics; flexible parallel mechanism; continuum robot; transoral robotic surgery; cadaveric study; DESIGN; OROPHARYNX; OUTCOMES;

D O I：

10.3390/robotics11060135

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页数：9

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