Cadaveric feasibility study of a teleoperated parallel continuum robot with variable stiffness for transoral surgery

Changsheng Li, Xiaoyi Gu, Xiao Xiao, Chwee Ming Lim, Hongliang Ren*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

Robot-assisted technologies are overcoming the limitations of the current approaches for transoral surgeries, which are suffering from limited vision and workspace. As a result, we develop a novel teleoperated parallel continuum robot with variable stiffness for collision avoidance. This paper focuses on the feasibility study on a cadaveric model for the robotic system as a first trial. We introduce the configuration of the robotic system, the description of the processes of the trial, including the setting of the robotic system, the test of stiffness, and the action of the manipulation. The contact force between the manipulators with different stiffness and the surrounding tissues and a series of surgical operations of the manipulator, including grasping, cutting, pushing, and pulling tissues under the master-slave control mode, were recorded and analyzed. Experimental results suggest that the typical surgical procedure on a cadaveric model was successfully performed. Moreover, the efficacy and feasibility of the developed robotic system are verified to satisfy the requirements of transoral robotic surgery (TORS). [Figure not available: see fulltext.].

Original languageEnglish
Pages (from-to)2063-2069
Number of pages7
JournalMedical and Biological Engineering and Computing
Volume58
Issue number9
DOIs
Publication statusPublished - 1 Sept 2020

Keywords

  • Cadaver trial
  • Flexible robotic system
  • Natural orifice transluminal endoscopic surgery (NOTES)
  • Surgical robotics
  • Transoral robotic surgery (TORS)

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