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Transoral Robotic Surgery (TORS) Emulation Using a Highly Flexible Robotic System

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Interdisciplinary Applications of Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 71))

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Abstract

The gap between the progress of transoral robotic surgery (TORS) adoption and training, has encouraged the industry to develop a variety of multiple-scenario endoscopic procedures without the need of a physical environment, in other words, surgical simulation platforms. Consequently, the authors aimed at developing the initial form of a virtual platform for the reproduction of TORSs, by embedding a highly flexible robotic manipulator, in a patient’s head and neck three-dimensional (3D) model, acquired from Computed Tomography (CT) images, to simulate a surgery. This platform intents to provide experienced and inexperienced surgeons and medical students a way of pre-planning, replaying, or practicing a surgery, outside the operating room (OR). This platform is developed in C++ under the Windows operating system using the MobileBody SDK simulation system, using two C++ program libraries, Open Inventor and Mobile. At this stage, the virtual system developed provides a total visualization of the patient’s head and neck anatomy, in different perspectives (different camera views), and provides all the movements possible of the robotic system, as in reality. This training tool will allow a proper placement of the robot with the shortest path possible, significantly influencing the success of the operation. Also, this platform, can be efficient as an educational tool for medical students and doctors who are inexperienced in TORSs.

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Acknowledgements

The kind support of Medrobotics® at the Essen University Hospital is gratefully acknowledged.

Disclaimer

No patients were involved throughout the course of this study.

Author information

Authors and Affiliations

  1. School of Engineering, University of Minho, R. da Universidade, 4610-057, Braga, Portugal

    Catalina Almeida

  2. Department Mechanics and Robotics, University of Duisburg-Essen, Lotharstr. 1, 47058, Duisburg, Germany

    Nikolas Bufe & Andrés Kecskeméthy

  3. University Hospital Essen, Hufelandstraße 55, 45147, Essen, Germany

    Stefan Mattheis & Stephan Lang

Authors
  1. Catalina Almeida
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  2. Nikolas Bufe
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  3. Stefan Mattheis
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  4. Stephan Lang
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  5. Andrés Kecskeméthy
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Corresponding authors

Correspondence to Catalina Almeida or Nikolas Bufe .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

  2. Chair of Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Francisco Geu Flores

  3. Faculty of Engineering, University of Piura, Piura, Peru

    Eliodoro Carrera

  4. Department of Engineering, Pontifical Catholic University of Peru, Lima, Peru

    Dante A. Elias

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Almeida, C., Bufe, N., Mattheis, S., Lang, S., Kecskeméthy, A. (2019). Transoral Robotic Surgery (TORS) Emulation Using a Highly Flexible Robotic System. In: Kecskeméthy, A., Geu Flores, F., Carrera, E., Elias, D. (eds) Interdisciplinary Applications of Kinematics. Mechanisms and Machine Science, vol 71. Springer, Cham. https://doi.org/10.1007/978-3-030-16423-2_7

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