0 39

Cited 0 times in

Development and Preclinical Trials of a Surgical Robot System for Endoscopic Endonasal Transsphenoidal Surgery

Authors
 Dongeun Choi  ;  Sun Ho Kim  ;  Woosub Lee  ;  Sungchul Kang  ;  Keri Kim 
Citation
 INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, Vol.19(3) : 1352-1362, 2021-03 
Journal Title
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
ISSN
 1598-6446 
Issue Date
2021-03
Keywords
Endoscopic endonasal transsphenoidal surgery ; robot mechanism design ; steerable end-effector ; surgical robot system design
Abstract
In endoscopic endonasal transsphenoidal surgery, for the treatment of deep brain tumors, such as craniopharyngiomas, an endoscope and surgical instruments are inserted through a nasal cavity into the lesion to remove
the tumor. This has recently become the preferred technique because there is less likelihood of neural damage and a
low complication rate. Manually controlled rigid surgical instruments are available for this procedure, but they provide limited dexterity and field of view. Therefore, some areas remain inaccessible when these surgical instruments
are used. To solve these problems, we propose a surgical robot system for endoscopic endonasal transsphenoidal
surgery. We defined a target surgical space based on an analysis by a surgeon and designed surgical instruments to
reach this target space. The system consists of two robot arms, end-effectors, surgical instruments, a master device,
a control device, and a robot base. The robot arm has an end-effector exhibiting two degrees of freedom (DOFs) and
an inner channel, into which flexible surgical instruments are inserted. The flexible surgical instrument can reach
the target space by steering the robot arm and end-effector. The outer diameter of the end-effector is 4 mm, and
the diameter of the instrument channel, into which commercial surgical instruments can be integrated, is 2 mm.
We motorized the motion of the robot arms, end-effectors, and instruments and included motion capability with the
necessary precision, and developed a master device and control device to operate them. The surgical robot base is
used to place the surgical robot before the operation and allow for manual operation. In a cadaver experiment, it
was confirmed that the robot system can reach a larger area than is accessible with current surgical instruments,
and it can support or remove tissues in the target surgical space. We received productive feedback from the surgeon
conducting the experiment, and further research is underway to improve the robot system.
Full Text
https://link.springer.com/article/10.1007/s12555-020-0232-0
DOI
10.1007/s12555-020-0232-0
Appears in Collections:
1. College of Medicine (의과대학) > Dept. of Neurosurgery (신경외과학교실) > 1. Journal Papers
Yonsei Authors
Kim, Sun Ho(김선호) ORCID logo https://orcid.org/0000-0003-0970-3848
URI
https://ir.ymlib.yonsei.ac.kr/handle/22282913/190997
사서에게 알리기
  feedback

qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Browse

Links