{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,10,5]],"date-time":"2024-10-05T04:26:21Z","timestamp":1728102381488},"reference-count":53,"publisher":"SAGE Publications","issue":"2-3","license":[{"start":{"date-parts":[[2022,4,23]],"date-time":"2022-04-23T00:00:00Z","timestamp":1650672000000},"content-version":"vor","delay-in-days":446,"URL":"http:\/\/www.sagepub.com\/licence-information-for-chorus"}],"funder":[{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"publisher","award":["R01 EB017467"],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DGE-1445197"],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2021,2]]},"abstract":" In the development of telemanipulated surgical robots, a class of continuum robots known as concentric tube robots has drawn particular interest for clinical applications in which space is a major limitation. One such application is transnasal surgery, which is used to access surgical sites in the sinuses and at the skull base. Current techniques for performing these procedures require surgeons to maneuver multiple rigid tools through the narrow confines of the nasal passages, leaving them with limited dexterity at the surgical site. In this article, we present a complete robotic system for transnasal surgery featuring concentric tube manipulators. It illustrates a bagging concept for sterility, and intraoperatively interchangeable instruments that work in conjunction with it, which were developed with operating room workflow compatibility in mind. The system also includes a new modular, portable surgeon console, a variable view-angle endoscope to facilitate surgical field visualization, and custom motor control electronics. Furthermore, we demonstrate elastic instability avoidance for the first time on a physical prototype in a geometrically accurate surgical scenario, which facilitates use of higher curvature tubes than could otherwise be used safely in this application. From a surgical application perspective, this article presents the first robotic approach to removing tumors growing behind the eyes in the orbital apex region, which has not been attempted previously with a surgical robot. <\/jats:p>","DOI":"10.1177\/02783649211000074","type":"journal-article","created":{"date-parts":[[2021,4,23]],"date-time":"2021-04-23T09:06:27Z","timestamp":1619168787000},"page":"521-533","update-policy":"http:\/\/dx.doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":33,"title":["A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"http:\/\/orcid.org\/0000-0001-7401-5908","authenticated-orcid":false,"given":"Trevor L.","family":"Bruns","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8284-4765","authenticated-orcid":false,"given":"Andria A.","family":"Remirez","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"given":"Maxwell A.","family":"Emerson","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"given":"Ray A.","family":"Lathrop","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"given":"Arthur W.","family":"Mahoney","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8590-2596","authenticated-orcid":false,"given":"Hunter B.","family":"Gilbert","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Louisiana State University, Baton Rouge, LA, USA"}]},{"given":"Cindy L.","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"given":"Paul T.","family":"Russell","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, USA"}]},{"given":"Robert F.","family":"Labadie","sequence":"additional","affiliation":[{"name":"Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, USA"}]},{"given":"Kyle D.","family":"Weaver","sequence":"additional","affiliation":[{"name":"Department of Neurosurgery, Vanderbilt University Medical Center, Nashville, TN, USA"}]},{"suffix":"III","given":"Robert J.","family":"Webster","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]}],"member":"179","published-online":{"date-parts":[[2021,4,23]]},"reference":[{"journal-title":"The International Journal of Robotics Research","year":"2021","author":"Anderson PL","key":"bibr1-02783649211000074"},{"key":"bibr2-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630581"},{"issue":"2","key":"bibr3-02783649211000074","first-page":"5","volume":"2014","author":"Bekerman I","year":"2014","journal-title":"Journal of Ophthalmology"},{"key":"bibr4-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696792"},{"key":"bibr5-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2378431"},{"key":"bibr6-02783649211000074","doi-asserted-by":"publisher","DOI":"10.4103\/0970-1591.19626"},{"key":"bibr7-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630723"},{"key":"bibr8-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2265804"},{"key":"bibr9-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2013.2260860"},{"key":"bibr10-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"bibr11-02783649211000074","first-page":"2941","volume-title":"International Conference on Intelligent Robots and Systems","author":"Butler EJ","year":"2012"},{"key":"bibr12-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1016\/j.survophthal.2017.01.004"},{"key":"bibr13-02783649211000074","doi-asserted-by":"publisher","DOI":"10.4103\/0974-9233.164613"},{"key":"bibr14-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/70.370511"},{"key":"bibr15-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1002\/alr.21267"},{"key":"bibr16-02783649211000074","first-page":"129","volume-title":"Eurographics Italian Chapter Conference","author":"Cignoni P","year":"2008"},{"key":"bibr17-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2035740"},{"key":"bibr18-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-211-99651-5_37"},{"key":"bibr19-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1016\/j.mri.2012.05.001"},{"volume-title":"Concentric Tube Robots: Design, Deployment, and Stability","year":"2016","author":"Gilbert HB","key":"bibr20-02783649211000074"},{"key":"bibr21-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2500422"},{"key":"bibr22-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_15"},{"key":"bibr23-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2881987"},{"key":"bibr24-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942661"},{"key":"bibr25-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2015.2483560"},{"volume-title":"System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots","year":"2017","author":"Hendrick RJ","key":"bibr26-02783649211000074"},{"key":"bibr27-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139498"},{"key":"bibr28-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915585397"},{"key":"bibr29-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1016\/j.jecm.2011.10.010"},{"key":"bibr30-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2719035"},{"key":"bibr31-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202157"},{"key":"bibr32-02783649211000074","first-page":"5280","volume-title":"International Conference on Engineering in Medicine and Biology Society","author":"Lin FY","year":"2015"},{"key":"bibr33-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1002\/hed.23027"},{"key":"bibr34-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1055\/s-2003-812465"},{"key":"bibr35-02783649211000074","first-page":"5","volume-title":"ICRA Workshop on Open Source Software","author":"Quigley M","year":"2009"},{"key":"bibr36-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2062570"},{"key":"bibr37-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385567"},{"key":"bibr38-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30136-3_3"},{"key":"bibr39-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1016\/j.otohns.2009.05.018"},{"key":"bibr40-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2359413"},{"key":"bibr41-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1115\/1.4030141"},{"key":"bibr42-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2012-MOVIC2012-8536"},{"issue":"2","key":"bibr43-02783649211000074","first-page":"145","volume":"76","author":"Swaney PJ","year":"2015","journal-title":"Journal of Neurological Surgery Part B: Skull Base"},{"key":"bibr44-02783649211000074","unstructured":"Swaney PJ, Lathrop R, Burgner J, et al. (2015) System, method, and apparatus for configuration, design, and operation of an active cannula robot. US Patent Application 14\/177,864."},{"key":"bibr45-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X17500015"},{"key":"bibr46-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1148\/rg.336135502"},{"key":"bibr47-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289285"},{"key":"bibr48-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1007\/s11517-016-1514-9"},{"key":"bibr49-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.26"},{"key":"bibr50-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.213"},{"key":"bibr51-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830334"},{"key":"bibr52-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094774"},{"key":"bibr53-02783649211000074","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2530794"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211000074","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/02783649211000074","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211000074","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211000074","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,5]],"date-time":"2024-10-05T00:16:48Z","timestamp":1728087408000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649211000074"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2]]},"references-count":53,"journal-issue":{"issue":"2-3","published-print":{"date-parts":[[2021,2]]}},"alternative-id":["10.1177\/02783649211000074"],"URL":"https:\/\/doi.org\/10.1177\/02783649211000074","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2021,2]]}}}