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Journal of Robotic Surgery
Published in: Journal of Robotic Surgery 1/2012

01-03-2012 | Original Article

A robotic assistant for trans-oral surgery: the robotic endo-laryngeal flexible (Robo-ELF) scope

Authors: Kevin Olds, Alexander Hillel, Jonathan Kriss, Archana Nair, Hongho Kim, Elizabeth Cha, Martin Curry, Lee Akst, Rex Yung, Jeremy Richmon, Russell Taylor

Published in: Journal of Robotic Surgery | Issue 1/2012

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Abstract

This paper describes the continued development of the Robotic EndoLaryngeal (Robo-ELF) Scope System, a simple clinically usable robot for manipulating flexible endoscopes, particularly in laryngeal surgery. The system includes a robot with three active and two passive degrees of freedom, a five degree of freedom passive positioning arm, a malleable scope shaft support, and a custom joystick controller. The Robo-ELF Scope allows a surgeon to control a flexible endoscope with only one hand and also to release the controls and perform bimanual surgery if desired. We have evaluated the Robo-ELF Scope system in both phantom and cadaver studies and found it superior to hand manipulation of flexible endoscopes and conventional rigid endoscopes.
Literature
1.
Plinkert P, Lowenheim H (1997) Trends and perspectives in minimally invasive surgery in otorhinolaryngology-head and neck surgery. Laryngoscope 107:1483–1489PubMedCrossRef
2.
Lee H, Yun M, Bahk J, Park H, Jeon Y, Lee S (2010) Rupture of endotracheal tube cuff during robot-assisted endoscopic thyroidectomy. Korean J Anesthesiol 59(6):416–419PubMedCrossRef
3.
McLeod IK, Mair EA, Melder PC (2005) Potential applications of the da Vinci minimally invasive surgical robotic system in otolaryngology. Ear Nose Throat J 84:483–487PubMed
4.
Eckl R, Gumprecht J, Strauss G, Hofer M, Dietz A, Lueth T (2010) Comparison of manual steering and steering via joystick of a flexible Rhino endoscope. In: 32nd annual international conference of the IEEE, Engineering in Medicine and Biology Society (EMBC), Buenos Aires, pp 1234–1237
5.
Olds K, Hilel A, Cha E, Curry M, Akst L, Richmon J, Taylor R. Robotic endo-laryngeal flexible (Robo-ELF) scope: a preclinical feasibility study. Laryngoscope (in press)
Metadata
Title
A robotic assistant for trans-oral surgery: the robotic endo-laryngeal flexible (Robo-ELF) scope
Authors
Kevin Olds
Alexander Hillel
Jonathan Kriss
Archana Nair
Hongho Kim
Elizabeth Cha
Martin Curry
Lee Akst
Rex Yung
Jeremy Richmon
Russell Taylor
Publication date
01-03-2012
Publisher
Springer-Verlag
Published in
Journal of Robotic Surgery / Issue 1/2012
Print ISSN: 1863-2483
Electronic ISSN: 1863-2491
DOI
https://doi.org/10.1007/s11701-011-0329-9

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