A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation
Robot-assisted technologies are being investigated to overcome the limitations of the current solutions for transoral surgeries, which suffer from constrained insertion ports, lengthy and indirect passageways, and narrow anatomical structures. This paper reviews distal dexterity mechanisms, variable...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
American Association for the Advancement of Science (AAAS)
2023-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0007 |
| _version_ | 1827932634261487616 |
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| author | Xiaoyi Gu Hongliang Ren |
| author_facet | Xiaoyi Gu Hongliang Ren |
| author_sort | Xiaoyi Gu |
| collection | DOAJ |
| description | Robot-assisted technologies are being investigated to overcome the limitations of the current solutions for transoral surgeries, which suffer from constrained insertion ports, lengthy and indirect passageways, and narrow anatomical structures. This paper reviews distal dexterity mechanisms, variable stiffness mechanisms, and triangulation mechanisms, which are closely related to the specific technical challenges of transoral robotic surgery (TORS). According to the structure features in moving and orienting end effectors, the distal dexterity designs can be classified into 4 categories: serial mechanism, continuum mechanism, parallel mechanism, and hybrid mechanism. To ensure adequate adaptability, conformability, and safety, surgical robots must have high flexibility, which can be achieved by varying the stiffness. Variable stiffness (VS) mechanisms based on their working principles in TORS include phase-transition-based VS mechanism, jamming-based VS mechanism, and structure-based VS mechanism. Triangulations aim to obtain enough workspace and create adequate traction and counter traction for various operations, including visualization, retraction, dissection, and suturing, with independently controllable manipulators. The merits and demerits of these designs are discussed to provide a reference for developing new surgical robotic systems (SRSs) capable of overcoming the limitations of existing systems and addressing challenges imposed by TORS procedures. |
| first_indexed | 2024-03-13T07:12:31Z |
| format | Article |
| id | doaj.art-04ee3c2c251b46218e119d2ebd170e2d |
| institution | Directory Open Access Journal |
| issn | 2692-7632 |
| language | English |
| last_indexed | 2024-03-13T07:12:31Z |
| publishDate | 2023-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj.art-04ee3c2c251b46218e119d2ebd170e2d2023-06-05T19:18:29ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322023-01-01410.34133/cbsystems.0007A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and TriangulationXiaoyi Gu0Hongliang Ren1Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China.Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China.Robot-assisted technologies are being investigated to overcome the limitations of the current solutions for transoral surgeries, which suffer from constrained insertion ports, lengthy and indirect passageways, and narrow anatomical structures. This paper reviews distal dexterity mechanisms, variable stiffness mechanisms, and triangulation mechanisms, which are closely related to the specific technical challenges of transoral robotic surgery (TORS). According to the structure features in moving and orienting end effectors, the distal dexterity designs can be classified into 4 categories: serial mechanism, continuum mechanism, parallel mechanism, and hybrid mechanism. To ensure adequate adaptability, conformability, and safety, surgical robots must have high flexibility, which can be achieved by varying the stiffness. Variable stiffness (VS) mechanisms based on their working principles in TORS include phase-transition-based VS mechanism, jamming-based VS mechanism, and structure-based VS mechanism. Triangulations aim to obtain enough workspace and create adequate traction and counter traction for various operations, including visualization, retraction, dissection, and suturing, with independently controllable manipulators. The merits and demerits of these designs are discussed to provide a reference for developing new surgical robotic systems (SRSs) capable of overcoming the limitations of existing systems and addressing challenges imposed by TORS procedures.https://spj.science.org/doi/10.34133/cbsystems.0007 |
| spellingShingle | Xiaoyi Gu Hongliang Ren A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation Cyborg and Bionic Systems |
| title | A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation |
| title_full | A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation |
| title_fullStr | A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation |
| title_full_unstemmed | A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation |
| title_short | A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation |
| title_sort | survey of transoral robotic mechanisms distal dexterity variable stiffness and triangulation |
| url | https://spj.science.org/doi/10.34133/cbsystems.0007 |
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