Robotic Tele-Operation for Upper Aerodigestive Tract Microsurgery: System Design and Validation
🤖 AI Summary
This study addresses the limitations of manual forceps manipulation in conventional transoral laser microsurgery, which suffers from poor ergonomics, low precision, and insufficient controllability. To overcome these challenges, the authors propose a teleoperated robotic system tailored for upper aerodigestive tract microsurgery, featuring an innovatively designed surgical forceps end-effector and a robotic arm control framework constrained by a remote center of motion (RCM). Experimental validation and usability assessments demonstrate that the system significantly enhances the precision and stability of tissue manipulation while improving surgeon comfort. These results confirm the system’s clinical efficacy and practical applicability in real-world surgical settings.
Application Category
📝 Abstract
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp, manipulate, and stabilize tissue within the UADT. Although TLM systems may rely on different technologies and interfaces, forceps manipulation is still predominantly performed manually, introducing limitations in ergonomics, precision, and controllability. This paper proposes a novel robotic system for tissue manipulation in UADT procedures, based on a novel end-effector designed for forceps control. The system is integrated within a teleoperation framework that employs a robotic manipulator with a programmed remote center of motion (RCM), enabling precise and constrained instrument motion while improving surgeon ergonomics. The proposed approach is validated through two experimental studies and a dedicated usability evaluation, demonstrating its effectiveness and suitability for UADT surgical applications.
Problem
Research questions and friction points this paper is trying to address.
Transoral Laser Microsurgery
Upper Aerodigestive Tract
Robotic Tele-Operation
Tissue Manipulation
Surgical Ergonomics
Innovation
Methods, ideas, or system contributions that make the work stand out.
robotic teleoperation
remote center of motion
end-effector design
transoral laser microsurgery
tissue manipulation
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