Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette
文献类型：会议论文
| 作者 | Gao AZ(高安柱) ; John P. Carey; Ryan J. Murphy; Iulian Iordachita; Russell H. Taylor; Mehran Armand
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| 出版日期 | 2016 |
| 会议名称 | 2016 IEEE International Conference on Robotics and Automation (ICRA) |
| 会议日期 | May 16-21, 2016 |
| 会议地点 | Stockholm, Sweden |
| 页码 | 4429-4435 |
| 通讯作者 | 高安柱 |
| 中文摘要 | Lesions of the lateral skull base in the petrous apex present unique surgical challenges because of the proximity of critical structures, including the inner ear, carotid artery, jugular bulb, facial nerve, lower cranial nerves, dura and brain. Currently, there are few appropriate surgical devices that can reach and remove these lesions, each with their own disadvantages. Here we investigate the feasibility of a dexterous continuum manipulator (DCM) capable of C-& S-shaped bends enabling dissection with remote center of motion (RCM) deep to the intact inner ear. A dedicated borescope channel provides the necessary visualization, while a flexible ring curette pre-shaped with a nitinol strip is designed to work through the instrument lumen for curettage of a cystic lesion. The kinematics of the DCM with the ring curette subject to an RCM constraint are investigated to explore the boundaries of a typical cyst cavity. Experiments in the planar phantom are carried out to validate feasibility, and results show that the proposed solution is practicable, accomplishing 80% and 83% removal of cysts for two kinds of boundaries. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2016 IEEE International Conference on Robotics and Automation (ICRA)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 1050-4729 |
| ISBN号 | 978-1-4673-8026-3 |
| WOS记录号 | WOS:000389516203119 |
| 源URL | [http://ir.sia.cn/handle/173321/19536]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Gao AZ,John P. Carey,Ryan J. Murphy,et al. Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette[C]. 见:2016 IEEE International Conference on Robotics and Automation (ICRA). Stockholm, Sweden. May 16-21, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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