Preclinical Performance Evaluation of a Robotic Endoscope for Non-Contact Laser Surgery

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Kundrat, D.; Graesslin, R.; Schoob, A.; Friedrich, D.T.; Scheithauer, M.O. et al.: Preclinical Performance Evaluation of a Robotic Endoscope for Non-Contact Laser Surgery. In: Annals of Biomedical Engineering (ABME) 49 (2020), Nr. 2, S. 585-600. DOI:

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Sum total of downloads: 48

Despite great efforts, transoral robotic laser surgery has not been established clinically. Patient benefits are yet to be proven to accept shortcomings of robotic systems. In particular, laryngeal reachability and transition from microscope to accurate endoscopic laser ablation have not been achieved. We have addressed those challenges with a highly integrated robotic endoscope for non-contact endolaryngeal laser surgery. The current performance status has been assessed in multi-level user studies. In addition, the system was deployed to an ex vivo porcine larynx. The robotic design comprises an extensible continuum manipulator with multifunctional tip. The latter features laser optics, stereo vision, and illumination. Vision-based performance assessment is derived from depth estimation and scene tracking. Novices and experts (n = 20) conducted teleoperated delineation tasks to mimic laser ablation of delicate anatomy. Delineation with motion-compensated and raw endoscopic visualisation was carried out on planar and non-planar nominal patterns. Root mean square tracing errors of less than 0.75 mm were feasible with task completion times below 45 s. Relevant anatomy in the porcine larynx was exposed successfully. Accuracy and usability of the integrated platform bear potential for dexterous laser manipulation in clinical settings. Cadaver and in vivo animal studies may translate ex vivo findings. © 2020, The Author(s).
License of this version: CC BY 4.0 Unported
Document Type: article
Publishing status: publishedVersion
Issue Date: 2020
Appears in Collections:Fakultät für Maschinenbau

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pos. country downloads
total perc.
1 image of flag of Germany Germany 29 60.42%
2 image of flag of China China 4 8.33%
3 image of flag of United States United States 3 6.25%
4 image of flag of Russian Federation Russian Federation 3 6.25%
5 image of flag of Czech Republic Czech Republic 3 6.25%
6 image of flag of Taiwan Taiwan 1 2.08%
7 image of flag of Israel Israel 1 2.08%
8 image of flag of Ireland Ireland 1 2.08%
9 image of flag of France France 1 2.08%
10 image of flag of Argentina Argentina 1 2.08%
    other countries 1 2.08%

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