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Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot
Alex J Chiluisa1, Floris J Van Rossum1, Joshua B Gafford2
1Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA 01609, USA.
Summary
This study introduces a computational framework to optimize robotic endoscope visual coverage in the middle ear. Simulations show how notch spacing affects the endoscope's ability to access and visualize critical anatomical regions.
Area of Science:
- Medical Robotics
- Computational Anatomy
- Surgical Simulation
Background:
- Minimally invasive middle ear surgery requires precise visualization.
- Existing endoscopic tools have limitations in accessing complex middle ear anatomy.
- Continuum robots offer potential for enhanced maneuverability.
Purpose of the Study:
- To develop and validate a computational framework for optimizing visual coverage of a notched-tube continuum robotic endoscope within the middle ear.
- To assess the impact of endoscope design parameters, specifically notch spacing, on attainable visual coverage.
- To provide a simulation-based tool for guiding the design and application of robotic endoscopes for otologic procedures.
Main Methods:
- Development of a computational framework integrating anatomically accurate middle ear mesh models.
- Implementation of a sampling-based motion planning algorithm (Rapidly-exploring Random Trees - RRT) for endoscope path planning.
- Utilization of a ray-casting procedure to quantify visual coverage within the simulated middle ear cavity.
- Conducting computer simulations to analyze the effect of varying inter-notch distances on endoscope's visual field.
Main Results:
- The framework successfully quantified visual coverage achievable by the robotic endoscope in simulated middle ear models.
- Simulation results demonstrated a correlation between the distance between flexure elements (notches) and the extent of visual coverage.
- Specific notch spacing configurations were identified as potentially improving access to challenging regions of the middle ear.
Conclusions:
- The presented computational framework is effective for optimizing the visual coverage of continuum robotic endoscopes in complex anatomical spaces like the middle ear.
- Endoscope design, particularly the spacing of its flexure elements, significantly influences its ability to visualize critical anatomical structures.
- This simulation-based approach can aid in the development of next-generation robotic endoscopes for otologic surgery, potentially improving surgical outcomes.
