{"id":1658,"date":"2015-07-15T15:31:40","date_gmt":"2015-07-15T15:31:40","guid":{"rendered":"http:\/\/bioeng.nus.edu.sg\/mm\/?p=1658"},"modified":"2015-07-15T15:31:40","modified_gmt":"2015-07-15T15:31:40","slug":"1658","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/projects\/1658\/","title":{"rendered":"A compact continuum tubular robotic system for transnasal procedures"},"content":{"rendered":"

Video<\/h2>\n
[kad_youtube url=”https:\/\/youtu.be\/E_OXL-4kxAY” ]<\/div>\n
\n

Project Goals<\/h2>\n

Nasopharynx cancer, or nasopharyngeal carcinoma (NPC),\u00a0is a tumor that originates in the nasopharynx, the uppermost\u00a0region of the pharynx where the nasal passage and the throat\u00a0join. It is a common disease occurring to ethnic Chinese\u00a0people living in or emigrating from southern China; it is also\u00a0the eighth most frequently occurred cancer among Singaporean\u00a0men. Traditional posterior nasopharyngeal biopsy using\u00a0a flexible nasal endoscope has the risks of abrasion and\u00a0injury to the nasal mucosa and thus causing trauma to the\u00a0patient.\u00a0Therefore, the goal of this project is to develop a compact continuum tubular robotic system to achieve collision free nasopharyngeal biopsy.<\/p>\n

\"illustration\"<\/a><\/p>\n

Fig.1\u00a0 Illustration of the proposed CTR for nasopharyngeal biopsy.<\/p>\n

Approaches<\/h2>\n

We developed a compact\u00a0CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy\u00a0to be integrated with a robotic arm to perform more complicated operations.<\/p>\n

\"2\"<\/p>\n

Fig.2\u00a0The proposed continuum tubular robot<\/p>\n

\"3\"<\/p>\n

Fig.3 Compact and light weight CTR integrated with a positioning arm for
\nbetter conducting surgery<\/p>\n

We also developed a 3D printed biopsy needle to equip our robot for transnasal biopsy procedure.
\n\"5\"<\/p>\n

Fig.4 \u00a03D printed biopsy needle for transnasal biopsy<\/p>\n

The workspace of the robot was analyzed to determine optimized tube parameters.<\/p>\n

\"workspace\"<\/a><\/p>\n

Fig.5 Workspace comparison for 3-DOF CTR with three initial configurations.
\nTop: all the outstretched part of the inner tube exposes;\u00a0Middle: the outstretched part of the inner tube is partially covered by\u00a0the outer tube; Bottom: the outstretched part of the inner tube is totally\u00a0covered by the outer tube.<\/p>\n

Further more, by using an electromagnetic tracking system, we are able to build a navigation system with shape reconstruction for the tubes.<\/p>\n

\"7\"<\/p>\n

Fig.6 \u00a0Shape reconstruction using 3-order B\u00e9zier curve fitting<\/p>\n

\"8\"<\/p>\n

Fig.7\u00a0Sensing by EM tracker<\/p>\n

\"10\"<\/p>\n

Fig.8 Navigation interface<\/p>\n

Results<\/h2>\n

Three groups of experiments were carried out. The first group is to tele-operate the robot to follow a linear path and a circular path. We found that the path following accuracy was about 2 mm.<\/p>\n

\"11\"<\/p>\n

Fig.9 Tele-operating the robot to follow a linear path and a circular path<\/p>\n

\"12\"<\/p>\n

Fig.10 Accuracy of the robot following the predefined paths<\/p>\n

The second group is to validate the shape reconstruction algorithm. The accuracy of the results is about 1 mm.<\/p>\n

\"13\"<\/p>\n

Fig.11\u00a0Reconstruction setup<\/p>\n

\"13\"<\/p>\n

Fig.12 Reconstruction error<\/p>\n

In the last group of experiments, the robot was tested in a biopsy procedure on a cadaver. The feasibility of the proposed robotic system was validated.<\/p>\n

\"14\"<\/p>\n

Fig.13 \u00a0Cadaver experiment setup<\/p>\n

\"15\"<\/p>\n

Fig.14 Cadaver experiment process<\/p>\n

People Involved<\/h2>\n

Research Fellow:\u00a0Liao Wu
\nPhD Student:\u00a0Keyu Wu
\nFYP Student: Li Ting Lynette Teo
\nIntern Student: Jan Feiling and Xin Liu
\nProject Investigator: Hongliang Ren<\/p>\n

Publications<\/h2>\n

[1] Liao Wu, Shuang Song, Keyu Wu, Chwee Ming Lim, Hongliang Ren.\u00a0Development of a compact continuum tubular robotic system for nasopharyngeal biopsy. Medical & Biological Engineering & Computing.<\/em>\u00a02016.
\n[2]\u00a0Keyu Wu,\u00a0Liao Wu, Hongliang Ren.\u00a0Motion planning of continuum tubular robots based on features extracted from statistical atlas.\u00a0In: Proceedings of 2015 IEEE International Conference\u00a0<\/i>on Intelligent Robots and Systems (IROS 2015).<\/i>
\n[3] Keyu Wu, Liao Wu, Chwee Ming Lim, Hongliang Ren. Model-free image guidance for intelligent tubular robots with pre-clinical feasibility study: towards minimally invasive trans-orifice surgery. In: Proceedings of 2015 IEEE International Conference on Information and Automation (ICIA 2015)<\/em>. ( best paper finalist)
\n[4] Benedict Tan, Liao Wu, Hongliang Ren. Prototype development of a handheld tubular curvilinear robot for minimally invasive surgery. In: The 11th Asian Conference on Computer Aided Surgery (ACCAS 2015)<\/em>.
\n[5] Keyu Wu\u2020, Liao Wu\u2020, Hongliang Ren. An image based targeting method to guide a curvilinear concentric tube robot. In: Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)<\/em>. Bali, Indonesia, 2014: 386-391 (\u2020 equally contributed author).<\/p>\n

<\/h2>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

Video [kad_youtube url=”https:\/\/youtu.be\/E_OXL-4kxAY” ] Project Goals Nasopharynx cancer, or nasopharyngeal carcinoma (NPC),\u00a0is a tumor that originates in the nasopharynx, the uppermost\u00a0region of the pharynx where the nasal passage and the throat\u00a0join. It is a common disease occurring to ethnic Chinese\u00a0people living in or emigrating from southern China; it is also\u00a0the\u2026 Continue reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[46,9,36],"tags":[58,59,63,78,90,96,105],"class_list":["post-1658","post","type-post","status-publish","format-standard","hentry","category-positioning","category-projects","category-surgical-robotics","tag-continuum","tag-cooperative","tag-flexible-robots","tag-navigation","tag-shape-sensing","tag-teleoperation","tag-visual-servoing"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/1658","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=1658"}],"version-history":[{"count":0,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/1658\/revisions"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=1658"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=1658"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=1658"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}