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

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dc.identifier.uri Kundrat, Dennis Graesslin, R. Schoob, Andreas Friedrich, D.T. Scheithauer, M.O. Hoffmann, T.K. Ortmaier, Tobias Kahrs, Lueder Alexander Schuler, P.J. 2021-03-25T06:34:03Z 2021-03-25T06:34:03Z 2020
dc.identifier.citation 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:
dc.description.abstract 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). eng
dc.language.iso eng
dc.publisher Berlin [u.a.] : Springer
dc.relation.ispartofseries Annals of Biomedical Engineering (ABME) 49 (2020), Nr. 2
dc.rights CC BY 4.0 Unported
dc.subject ablation eng
dc.subject continuum robot eng
dc.subject endoscopy eng
dc.subject haptics eng
dc.subject head eng
dc.subject motion compensation eng
dc.subject neck eng
dc.subject performance eng
dc.subject TORS eng
dc.subject tracking eng
dc.subject.ddc 610 | Medizin, Gesundheit ger
dc.title Preclinical Performance Evaluation of a Robotic Endoscope for Non-Contact Laser Surgery
dc.type article
dc.type Text
dc.relation.essn 1573-9686
dc.relation.issn 0090-6964
dc.bibliographicCitation.issue 2
dc.bibliographicCitation.volume 49
dc.bibliographicCitation.firstPage 585
dc.bibliographicCitation.lastPage 600
dc.description.version publishedVersion
tib.accessRights frei zug�nglich

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