title: A Telerobotic System for Transnasal Surgery.
abstract: Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these robots to a variety of real-world clinical scenarios. Endonasal skull base surgery is one such application, where their small diameter and tentacle like dexterity are particularly advantageous. In this paper we provide the medical motivation for an endonasal surgical robot featuring concentric tube manipulators, and describe our model-based design and teleoperation methods, as well as a complete system incorporating image-guidance. Experimental demonstrations using a laparoscopic training task, a cadaver reachability study, and a phantom tumor resection experiment illustrate that both novice and expert users can effectively teleoperate the system, and that skull base surgeons can use the robot to achieve their objectives in a realistic surgical scenario.
authors.affiliation: J. 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.
authors.forename: Jessica
authors.initials: J
authors.lastname: Burgner
authors.affiliation: J. 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.
authors.forename: D Caleb
authors.initials: DC
authors.lastname: Rucker
authors.affiliation: J. 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.
authors.forename: Hunter B
authors.initials: HB
authors.lastname: Gilbert
authors.affiliation: J. 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.
authors.forename: Philip J
authors.initials: PJ
authors.lastname: Swaney
authors.affiliation: J. 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.
authors.forename: Paul T
authors.initials: PT
authors.lastname: Russell
authors.affiliation: J. 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.
authors.forename: Kyle D
authors.initials: KD
authors.lastname: Weaver
authors.affiliation: J. 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.
authors.forename: Robert J
authors.initials: RJ
authors.lastname: Webster
keywords: Active Cannula; Concentric Tube Robot; Continuum Robot; Endonasal Surgery; Minimally-Invasive Surgery; Robot-Assisted Surgery; Teleoperation
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