– Background
Open tracheostomy (OT) remains the gold standard for managing airway obstruction; however, it is associated with stringent procedural requirements, scarring, and risks of infection. Percutaneous dilation tracheostomy (PDT), while more cost-effective, less invasive, and safer for surgeons, carries the risk of injuring the posterior tracheal wall and esophagus. Additionally, precise identification of tracheal rings and the optimal puncture site can be challenging.
– Our Contribution
To address these limitations and enhance the safety and simplicity of tracheostomy procedures, a minimally invasive, endotracheal inside-out flexible needle-driving system has been developed for microendoscope-guided robotic tracheostomy (MERT). This system integrates optical coherence tomography (OCT) and microendoscopic guidance to facilitate robotic insertion into the trachea, enabling an inside-out puncture with a flexible needle. The device is designed to operate through a standard endotracheal tube (ETT), and the puncture direction of the flexible needle is fully adjustable. Kinematic and static models of the flexible needle have been developed, and the system’s feasibility has been validated through porcine trachea puncture experiments.
This approach demonstrates significant potential for improving tracheostomy outcomes by minimizing invasiveness and enhancing procedural precision.
– Authors: Botao Lin, Sishen YUAN, Tinghua Zhang, Tao Zhang, Ruoyi Hao, Wu ‘Scott’ YUAN, Chwee Ming Lim, and Hongliang Ren
Looking forward to sharing our findings with the robotics and medical communities at #ICRA2025! ๐๐ค๐ฉบ
