Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials

Overview

Journal Sensors (Basel)

Publisher MDPI

Specialty Biotechnology

Date 2021 Apr 3

PMID 33810419

Citations 1

Authors

Victor F Munoz

Isabel Garcia-Morales

Juan Carlos Fraile-Marinero

Javier Perez-Turiel

Alvaro Munoz-Garcia

Enrique Bauzano

Irene Rivas-Blanco

Jose Maria Sabater-Navarro

Eusebio de la Fuente

Affiliations

Soon will be listed here.

Abstract

Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the success of the intervention by providing accurate movements. Research has focused on the development of teleoperated robots to handle a surgical instrument, including the use of virtual fixtures to delimit the working area. This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon's workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force/position control. Finally, both the navigation and control scheme were validated by in-vitro tests.

Citing Articles

Sensors Technology for Medical Robotics.

Munoz V Sensors (Basel). 2022; 22(23).

PMID: 36501991 PMC: 9736968. DOI: 10.3390/s22239290.

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