PURPOSE: Design a compact, ergonomic, and safe endoscope positioner dedicated to the sino-nasal tract, and the anterior and middle-stage skull base. METHODS: A motion and force analysis of the surgeon's movement was performed on cadaver heads to gather objective data for specification purposes. An experimental comparative study was then performed with three different kinematics, again on cadaver heads, in order to define the best architecture satisfying the motion and force requirements. RESULTS: We quantified the maximal forces applied on the endoscope when traversing the sino-nasal tract in order to evaluate the forces that the robot should be able to overcome. We also quantified the minimal forces that should not be exceeded in order to avoid damaging vital structures. We showed that the entrance point of the endoscope into the nostril could not be considered, as in laparoscopic surgery, as a fixed point but rather as a fixed region whose location and dimensions depend on the targeted sinus. CONCLUSION: From the safety and ergonomic points of view, the best solution would be a co-manipulated standard 6-degree of freedom robot to which is attached a gimbal-like passive remote manipulator holding the endoscope.
PURPOSE: Design a compact, ergonomic, and safe endoscope positioner dedicated to the sino-nasal tract, and the anterior and middle-stage skull base. METHODS: A motion and force analysis of the surgeon's movement was performed on cadaver heads to gather objective data for specification purposes. An experimental comparative study was then performed with three different kinematics, again on cadaver heads, in order to define the best architecture satisfying the motion and force requirements. RESULTS: We quantified the maximal forces applied on the endoscope when traversing the sino-nasal tract in order to evaluate the forces that the robot should be able to overcome. We also quantified the minimal forces that should not be exceeded in order to avoid damaging vital structures. We showed that the entrance point of the endoscope into the nostril could not be considered, as in laparoscopic surgery, as a fixed point but rather as a fixed region whose location and dimensions depend on the targeted sinus. CONCLUSION: From the safety and ergonomic points of view, the best solution would be a co-manipulated standard 6-degree of freedom robot to which is attached a gimbal-like passive remote manipulator holding the endoscope.
Authors: John Y K Lee; Bert W O'Malley; Jason G Newman; Gregory S Weinstein; Bradley Lega; Jason Diaz; M Sean Grady Journal: ORL J Otorhinolaryngol Relat Spec Date: 2010-07-29 Impact factor: 1.538
Authors: Nathanael Jarrassé; Michele Tagliabue; Johanna V G Robertson; Amina Maiza; Vincent Crocher; Agnès Roby-Brami; Guillaume Morel Journal: IEEE Trans Neural Syst Rehabil Eng Date: 2010-07-19 Impact factor: 3.802
Authors: G Strauss; M Hofer; S Kehrt; R Grunert; W Korb; C Trantakis; D Winkler; J Meixensberger; F Bootz; A Dietz; J Wahrburg Journal: HNO Date: 2007-03 Impact factor: 1.284