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A Telerobotic System for Transnasal Surgery.

Jessica Burgner¹, D Caleb Rucker¹, Hunter B Gilbert¹

¹J. Burgner, formerly with Vanderbilt University, is now with the Hannover Centre for Mechatronics, Leibniz Universitaet Hannover, Hanover, Germany. D.C. Rucker, H.B. Gilbert, P.J. Swaney, and R.J. Webster III are with the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA. P.T. Russell III, K.D. Weaver and R.J. Webster III are with the Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, USA. P.T. Russell III and K.D. Weaver are with the Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, USA.

IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division

|August 5, 2014

Summary

Mechanics-based models of concentric tube robots are now sophisticated enough for clinical use. This study demonstrates their effectiveness in endonasal skull base surgery through various experiments.

Keywords:

Active Cannula Concentric Tube Robot Continuum Robot Endonasal Surgery Minimally-Invasive Surgery Robot-Assisted Surgery Teleoperation

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Area of Science:

Robotics
Medical Robotics
Surgical Robotics

Background:

Mechanics-based models of concentric tube continuum robots have advanced significantly.
These robots offer small diameter and high dexterity, suitable for minimally invasive procedures.

Purpose of the Study:

To present the medical motivation for using concentric tube robots in endonasal skull base surgery.
To describe the model-based design, teleoperation methods, and image-guidance integration for such a system.

Main Methods:

Development of a concentric tube robot system with model-based design and teleoperation.
Integration of image-guidance for enhanced surgical navigation.
Experimental validation including a laparoscopic training task, cadaver reachability study, and phantom tumor resection.

Main Results:

Demonstrated effective teleoperation by both novice and expert users.
Confirmed the system's capability for skull base surgeons to achieve surgical objectives.
Highlighted the advantageous small diameter and dexterity for endonasal procedures.

Conclusions:

Concentric tube continuum robots show significant promise for endonasal skull base surgery.
The developed system is effective and can be operated by surgeons to meet clinical needs.
Further application of these robots in real-world clinical scenarios is feasible.